hexsha stringlengths 40 40 | size int64 77 872k | ext stringclasses 3
values | lang stringclasses 1
value | max_stars_repo_path stringlengths 7 140 | max_stars_repo_name stringclasses 719
values | max_stars_repo_head_hexsha stringclasses 719
values | max_stars_repo_licenses listlengths 1 4 | max_stars_count int64 1 82.5k ⌀ | max_stars_repo_stars_event_min_datetime stringclasses 403
values | max_stars_repo_stars_event_max_datetime stringclasses 403
values | max_issues_repo_path stringlengths 7 140 | max_issues_repo_name stringclasses 719
values | max_issues_repo_head_hexsha stringclasses 719
values | max_issues_repo_licenses listlengths 1 4 | max_issues_count int64 1 9.02k ⌀ | max_issues_repo_issues_event_min_datetime stringclasses 213
values | max_issues_repo_issues_event_max_datetime stringclasses 213
values | max_forks_repo_path stringlengths 7 140 | max_forks_repo_name stringclasses 721
values | max_forks_repo_head_hexsha stringclasses 721
values | max_forks_repo_licenses listlengths 1 4 | max_forks_count int64 1 54.3k ⌀ | max_forks_repo_forks_event_min_datetime stringclasses 319
values | max_forks_repo_forks_event_max_datetime stringclasses 319
values | content stringlengths 77 872k | avg_line_length float64 14.5 8.75k | max_line_length int64 33 198k | alphanum_fraction float64 0.12 0.83 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
24a1e57fd94a558b088f26f3adb8fd0a372a4023 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9353_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9353_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9353_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/935/935.stl" name="obj0" scale="0.02712546447410325 0.02712546447410325 0.02712546447410325" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.026405012137671068 0.14168045114430583 0.030752206887952042">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.004257470603724109 -0.009637744140909918 0.0014906188804634122" rgba="1 0 0 0" size="0.013202506068835534 0.07084022557215292 0.015376103443976021" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.073171 | 198 | 0.670442 |
24a2a27093a3266e8e1fa03532b5ffca2e1146a6 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9292_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9292_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9292_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/929/929.stl" name="obj0" scale="0.003841907248900385 0.003841907248900385 0.003841907248900385" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.027061136436630294 0.02517520179675383 0.209209912262838">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
24a3366cfb37a209d3c3967ad9389d9f659dd5c3 | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3601_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3601_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3601_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/360/360.stl" name="obj0" scale="0.00508464013019347 0.00508464013019347 0.00508464013019347" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03241668078635714 0.045126287932909785 0.2275617291047649">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.210526 | 155 | 0.617769 |
24a4c551d05902fca4c2342ef1c6bea6a809ede3 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/754_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/754_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/754_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/075/075.stl" name="obj0" scale="0.005214322675453322 0.005214322675453322 0.005214322675453322" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.01253436613422566 0.03187410643618839 0.04" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.002532081319313108 -0.015233208242161768 0.035816652981097374" size="0.024678235674500046 0.015524269203858476 0.043141538671649576" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.002624760776420898 -0.003306638311697876 0.005209480443673459" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.002532081319313108 -0.015233208242161768 0.025816652981097376" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.333333 | 224 | 0.656733 |
24a5b70941b33d956d4e917e5347702c209ed0be | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5651_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5651_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5651_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/565/565.stl" name="obj0" scale="0.006001642053722599 0.006001642053722599 0.006001642053722599" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.03429100604471766 0.04632092543959728 0.021318642796499924">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.002160504312221818 -0.0070980312147305435 -0.0019700431469601995" rgba="1 0 0 0" size="0.01714550302235883 0.02316046271979864 0.010659321398249962" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670056 |
24a5eebe88094e5b25562d94ddbb0d16905533de | 76,278 | xml | XML | herb_reconf/cluttered_scenes/grasping_026_sponge_2_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_026_sponge_2_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_026_sponge_2_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/026_sponge/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.6019902713771772 0.6019902713771772 0.6019902713771772"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.092637701728815 1.092637701728815 1.092637701728815"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.805482518828171" name="gen_body_0" pos="0 0 0.29988399999710963"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6260145017912288 0.8122016267032608 0.6175467526485429 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.5817993102367254" name="gen_body_gadded_1" pos="0.09724526544582107 0.0 0.30071776115929727"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5508801112814687 0.06499128853888358 0.17665906186978186 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.2873232558315362" name="gen_body_gadded_2" pos="0.19532840016052666 -0.1917290698122273 0.30010464282601307"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8462561746815485 0.17251590988502874 0.12458493222679479 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 119.745683 | 945 | 0.683172 |
24a6e478aa131bdf038ac006d39521512fd7c8ab | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2432_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2432_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2432_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/243/243.stl" name="obj0" scale="0.007301568687127743 0.007301568687127743 0.007301568687127743" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.0316185889160703 0.0496134290721643 0.22584250411768508">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.236842 | 155 | 0.618032 |
24a7030a3dfe1dcd34fa6baa8858269ccf280606 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2863_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2863_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2863_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/286/286.stl" name="obj0" scale="0.006207941105761399 0.006207941105761399 0.006207941105761399" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.03978307221318959 0.04579613052778838 0.033243803978702045">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.01844227485159619 -0.025915672202409597 -0.01502255722787913" rgba="1 0 0 0" size="0.019891536106594793 0.02289806526389419 0.016621901989351023" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.073171 | 196 | 0.669875 |
24a70db41187bb89bf7bfeadd4a48ced89a00a93 | 2,709 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2743_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2743_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2743_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/274/274.stl" name="obj0" scale="0.005301623966945435 0.005301623966945435 0.005301623966945435" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.02166074961251756 0.04 0.019038847384536598" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.00806386458585458 0.00892096849007975 0.0331187371975349" size="0.017340596802810058 0.019395999476075405 0.05554293833825109" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.003743835165591756 0.009477372868847842 -0.0033853537561795858" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00806386458585458 0.00892096849007975 0.023118737197534902" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.166667 | 217 | 0.657069 |
24a8c877226bf6e1848255afe9cb6256be9846d9 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9152_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9152_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9152_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/915/915.stl" name="obj0" scale="0.006437669990727567 0.006437669990727567 0.006437669990727567" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.015062155319440374 0.04310852127638408 0.03925199322358379">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0012729635353244467 -0.030060747398292658 0.011778005287878559" rgba="1 0 0 0" size="0.007531077659720187 0.02155426063819204 0.019625996611791895" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 198 | 0.670814 |
24a9054c2ffa817bb9cb9709619c09b878fe2c7f | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6162_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6162_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6162_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/616/616.stl" name="obj0" scale="0.007557194553194928 0.007557194553194928 0.007557194553194928" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.021844316464832918 0.05204778563305398 0.22161308520449155">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
24a90c70c8bb1547e29df6d53d54679009b2c297 | 90,272 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_077_rubiks_cube_4_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_077_rubiks_cube_4_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_077_rubiks_cube_4_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/077_rubiks_cube/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.7410899954497094 1.7410899954497094 1.7410899954497094"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.8081194195956547 0.8081194195956547 0.8081194195956547"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.500395675015483" name="gen_body_0" pos="-0.05 -0.35 0.3003150000120513"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.4676159630517004 0.9314487322094821 0.5291806694879684 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.991751093885436" name="gen_body_gadded_1" pos="0.08205121348821394 -0.1852135568180737 0.30033210572043073"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6042877562430758 0.8042207054590294 0.036426612586300866 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.1269319746413404" name="gen_body_gadded_2" pos="-0.14641839813745433 -0.38477972432683316 0.30017324493602004"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4907370301781111 0.6987281009030007 0.7422274338938922 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 131.976608 | 10,958 | 0.688497 |
24a915574aba488386ee88297f5dbd6d59e3438b | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4918_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4918_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4918_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/491/491.stl" name="obj0" scale="0.011729919515172053 0.011729919515172053 0.011729919515172053" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.017404408839670715 0.06710746190723484 0.03275649817632911">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0014016516139885504 -0.015010201981891798 0.0058675233681835465" rgba="1 0 0 0" size="0.008702204419835357 0.03355373095361742 0.016378249088164556" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 199 | 0.671001 |
24a96741a8e920932382470c89052e5bf7e21363 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6906_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6906_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6906_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/690/690.stl" name="obj0" scale="0.01564779127364796 0.01564779127364796 0.01564779127364796" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.036269804148006415 0.0859073520792819 0.009974434182726514">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.00023728676679225666 0.013283433338614203 -4.352654742115192e-05" rgba="1 0 0 0" size="0.018134902074003208 0.04295367603964095 0.004987217091363257" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 200 | 0.670062 |
24ab57915e1d069f3bc1bca8e5d6d50cd561d00d | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4146_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4146_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4146_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/414/414.stl" name="obj0" scale="0.006697066885616107 0.006697066885616107 0.006697066885616107" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.013369954011241698 0.04 0.010051935753697954" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.0008155821280633072 0.0022582147845187036 0.0322300245157765" size="0.010002788078440598 0.01291845721054935 0.04210601338760793" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0014838907046925687 0.002645890037090129 0.00017594688186653063" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0008155821280633072 0.0022582147845187036 0.0222300245157765" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.314815 | 220 | 0.658079 |
24acc7da39d327e056af7389d8f48c9ca7860013 | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9582_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9582_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9582_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/958/958.stl" name="obj0" scale="0.02498230963382733 0.02498230963382733 0.02498230963382733" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.039757721932109996 0.1523217760558823 0.22085305862138094">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.210526 | 155 | 0.617769 |
24ae112403420d563618bf3a5c31cdb636742fe1 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/153_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/153_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/153_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/015/015.stl" name="obj0" scale="0.004689182921420574 0.004689182921420574 0.004689182921420574" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.01793083058691541 0.038780890900238056 0.0268271320132943">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.002121311252294678 -0.007268548526218707 0.0010586551751924525" rgba="1 0 0 0" size="0.008965415293457705 0.019390445450119028 0.01341356600664715" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.670628 |
24ae2f0dfd240b27607bd1cb33735b0c72eab912 | 79,304 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_017_orange_2_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_017_orange_2_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_017_orange_2_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.7960761807800103 0.7960761807800103 0.7960761807800103"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.8654472986967972 1.8654472986967972 1.8654472986967972"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.5900671403123491" name="gen_body_0" pos="0 0 0.30024799999664536"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.29382824543783015 0.7733773426286716 0.23649148299036094 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.163197699850782" name="gen_body_gadded_1" pos="0.16841969031615217 0.0 0.30703328620001963"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.4100448652019414 0.7443478381745896 0.4592570580032931 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.528191965138867" name="gen_body_gadded_2" pos="0.2499431743032457 0.15354340344222703 0.3040048401974644"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4656165703734467 0.2078595866377687 0.16251401499161477 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.94152 | 941 | 0.685981 |
24ae800f0d9cf7ea6cac3c468e149d99d07d9e29 | 2,727 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6113_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6113_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6113_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/611/611.stl" name="obj0" scale="0.0064942729442257225 0.0064942729442257225 0.0064942729442257225" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.020448186011563375 0.04 0.0222122383599493" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.0014869858622793017 -0.0020325616269071685 0.025623685037852013" size="0.016986045563038576 0.01145478284644388 0.044549685849415405" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0008996484194038628 0.0024415838132817035 0.0015221851999999863" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0014869858622793017 -0.0020325616269071685 0.015623685037852011" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.5 | 225 | 0.657866 |
24aef4ce2e89901e623f73250af14608ea702bad | 4,089 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_452.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_452.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_452.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.01585347515179422 0.04580205276744001 0.0014976940762473862" pos="-0.18018323578984274 -0.2927705511957142 0.2014976940762474" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.029645037386487747 0.0038060391494853817 0.0040725328831994175" pos="0.02981680275569426 -0.06326472389119078 0.20407253288319943" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04012320120528183 0.03822963701288821 0.002028955393863741" pos="-0.051925355327560624 -0.15334004349758823 0.20202895539386376" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0029268885330645867 0.012360057320962167 0.0014885188839851044" pos="0.11794262522576227 0.23705414878173153 0.2014885188839851" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013293038803418707 0.04570788642332785 0.0012131893568846927" pos="-0.11217602116473172 0.22660813705784427 0.2012131893568847" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013946006794750838 0.008928580842699069 0.004594922737286186" pos="0.07130654303888023 0.009314367705754834 0.2045949227372862" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03846865121481605 0.003983802377692164 0.00048824483015384663" pos="-0.09275276413332967 -0.03197128225963708 0.20048824483015384" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.382995485513 0.6633486599656 0.44128951307" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="512.382279257" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="4.052914293603477"></joint>
<site name="object0" pos="-0.007995485513 0.021651340034400057 -0.021289513069999988" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.00122707817783 0.00122707817783 0.00122707817783" file="mujoco_models/Tree_1_pot.stl" name="object_mesh"/>
<texture file="textures/obj_textures/lacelike_0060.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 73.017857 | 281 | 0.665444 |
24af047c14e4fa286ad821b396e862e57b8f507e | 79,296 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_002_master_chef_can_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_002_master_chef_can_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_002_master_chef_can_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.698987882835611 1.698987882835611 1.698987882835611"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.8834031908345477 1.8834031908345477 1.8834031908345477"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 3.330484279793466" name="gen_body_0" pos="0 0 0.30018699999782256"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.2824954083592327 0.6007504122402682 0.15931828579242302 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.587956924063571" name="gen_body_gadded_1" pos="0.15839493092192405 0.0 0.30082079014130975"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.24410999966028857 0.8274572190740023 0.817054597058191 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.2817925937749955" name="gen_body_gadded_2" pos="-0.19444428620848844 0.4125284872507174 0.30090988220651776"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.026033254689211804 0.9562906605661177 0.12530099452854726 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.929825 | 944 | 0.685936 |
24af598413e1d83ea7b9673034fe183c2d43d442 | 1,764 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/642_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/642_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/642_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/064/064.stl" name="obj0" scale="0.008360543439472163 0.008360543439472163 0.008360543439472163" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.027150910802674767 0.05894209460539709 0.01756515898405">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.00231892646157893 -0.00899042268138749 -0.00034688726270714736" rgba="1 0 0 0" size="0.013575455401337384 0.029471047302698544 0.008782579492025" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.02439 | 197 | 0.668934 |
24af7caf36df0c4f2eb7fab31d8fa795098c3fa8 | 5,066 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_775.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_775.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_775.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.025384458760585163 0.04695099127717397 0.0008948575279075456" pos="-0.03683312428603375 0.1663143849422803 0.20089485752790756" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009371263991675042 0.03348872953493834 0.004579098701491124" pos="0.03939266494065197 -0.2540268831055685 0.20457909870149113" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022764838775111144 0.02542090256471662 0.0029841451072289246" pos="-0.29497392583057686 -0.23415665086809845 0.20298414510722892" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.005324116508450901 0.0010645904517063826 0.0023220870354687647" pos="0.16606528172426144 -0.25248360295641087 0.20232208703546878" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0386713489496407 0.010882306799588841 0.0013892999830916175" pos="0.11468840446642858 0.22143186210269866 0.20138929998309163" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.003093359419631719 0.011072283822255405 0.0007221706769761315" pos="0.12531449872069927 -0.05036815894539448 0.20072217067697615" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.035267171876169526 0.03941982355992143 0.0017513199950960337" pos="-0.001181691578495736 0.023626958679221488 0.20175131999509605" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.045867424162819886 0.009915654650963151 0.0024982311646149936" pos="0.22777832537257497 -0.11557585301130555 0.20249823116461502" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.027997740668293667 0.03463774204786806 0.001002075024590693" pos="-0.2503276989251791 -0.07941960655161431 0.2010020750245907" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.030898624830729384 0.04807178779829107 0.00371779553004494" pos="-0.15953999990714796 -0.2818851928925835 0.20371779553004496" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04413652435462893 0.026629517265867115 0.0033486299628389306" pos="-0.1582936722645765 -0.1666541876879014 0.20334862996283895" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04171816884168098 0.005923424719668447 0.0006890633399370793" pos="0.007527349697072194 -0.0747004129612954 0.20068906333993708" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.2059592466904998 0.5059592595875 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="294.84669937" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="4.438532699679105"></joint>
<site name="object0" pos="0.1690407533095002 0.17904074041250007 0.007000000000000062" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.001690407533095 0.001690407533095 0.001690407533095" file="mujoco_models/nidoran_01.stl" name="object_mesh"/>
<texture file="textures/obj_textures/swirly_0166.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 83.04918 | 282 | 0.687525 |
24b17f85c9531b84a966c2ca0be6399ceeec557f | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7532_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7532_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7532_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/753/753.stl" name="obj0" scale="0.008832263401159047 0.008832263401159047 0.008832263401159047" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.012588585280486684 0.056618738758643004 0.22636596230184747">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.342105 | 155 | 0.61908 |
24b1b5701afefe572444eaa20d1155e80fe64bb7 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5346_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5346_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5346_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/534/534.stl" name="obj0" scale="0.0035445655120333124 0.0035445655120333124 0.0035445655120333124" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.01974525916578119 0.04 0.013186648578748858" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.0005568455060922231 0.010856327431488354 0.028092072967841226" size="0.013720959119626654 0.015421187729236924 0.04114789326394489" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.004259455615027062 0.011074200274286537 0.00013082828264519004" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0005568455060922231 0.010856327431488354 0.018092072967841225" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.658339 |
24b25a448a68f395ed4d363bf14d0578e4a85d96 | 2,721 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/908/908.stl" name="obj0" scale="0.006622031415744791 0.006622031415744791 0.006622031415744791" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.014042835437966672 0.04 0.03914631419800785" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.001529901434985074 -0.019716934420164534 0.03273084244111689" size="0.037199366300161886 0.030937432569216106 0.05123766040494641" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00015268464094240255 -0.016872803703789973 -0.004463982525862845" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.001529901434985074 -0.019716934420164534 0.022730842441116887" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.388889 | 222 | 0.656376 |
24b357b7335f82eb020a8a1538ede549ac58fecd | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2745_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2745_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2745_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/274/274.stl" name="obj0" scale="0.005876390525409583 0.005876390525409583 0.005876390525409583" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.024009062994636475 0.04433653206676069 0.021102911689466743">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.00414971669679813 0.010504846152708002 -0.003752371134204624" rgba="1 0 0 0" size="0.012004531497318238 0.022168266033380346 0.010551455844733371" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 197 | 0.670814 |
24b4b6617608640fe3f90a6b3e0b77de1acfa461 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8417_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8417_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8417_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/841/841.stl" name="obj0" scale="0.004194628796869583 0.004194628796869583 0.004194628796869583" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.018371853325226836 0.03744893700618497 0.2269408255951391">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
24b56ee90fef955f45c209d9eba35d3c88c5dba2 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8331_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8331_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8331_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/833/833.stl" name="obj0" scale="0.013972674276179181 0.013972674276179181 0.013972674276179181" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.033467754633858385 0.07906861809840271 0.2300007568837329">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
24b7ba78c6032ad0a7c0e3f59b048241f3e80202 | 1,763 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4292_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4292_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4292_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/429/429.stl" name="obj0" scale="0.00480423362175898 0.00480423362175898 0.00480423362175898" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.02361719691835886 0.031881533277064285 0.02385125677829415">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.021636877503554305 -0.01716574913519577 -0.01646562344602527" rgba="1 0 0 0" size="0.01180859845917943 0.015940766638532142 0.011925628389147075" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43 | 196 | 0.669314 |
24b86c129acc248e094b7b51be64272b43738d13 | 80,302 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_0_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_0_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_055_baseball_0_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.4350663633861624 1.4350663633861624 1.4350663633861624"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.6044671158007553 1.6044671158007553 1.6044671158007553"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.6198912357736397 0.6198912357736397 0.6198912357736397"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.8485231983153336 1.8485231983153336 1.8485231983153336"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 4.24332271447745" name="gen_body_0" pos="-0.05 -0.35 0.3002050000039162"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.8040709968103398 0.5157119383854599 0.4433095802629815 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.846130221162998" name="gen_body_gadded_1" pos="-0.004467249066769726 -0.35 0.2990516510134972"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.767913790172156 0.6107606830729786 0.09358733701335942 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.5051213649926343" name="gen_body_gadded_2" pos="-0.17530086891677565 -0.5799659211950325 0.300775126629783"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.7751651690776135 0.2674031999286921 0.40377168950262843 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.4239575013535374" name="gen_body_gadded_3" pos="0.08678118695079999 -0.19602881023733162 0.29959035126333244"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.05649990419806794 0.6266321596594835 0.4097830305490868 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.039660111451035" name="gen_body_gadded_4" pos="0.29501207058246065 -0.34782494458877566 0.3022040192587134"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.49138845312495016 0.736436755494985 0.947624560667622 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 117.400585 | 1,621 | 0.687305 |
24b87a443a99736d42866469af9ad399b123d98a | 2,182 | xml | XML | metaworld/envs/assets_v2/franka_xyz/franka_peg_insertion_side.xml | dxyang/metaworld | cab95826319a514c0b4301ac5f1bc1be276c9e02 | [
"MIT"
] | null | null | null | metaworld/envs/assets_v2/franka_xyz/franka_peg_insertion_side.xml | dxyang/metaworld | cab95826319a514c0b4301ac5f1bc1be276c9e02 | [
"MIT"
] | null | null | null | metaworld/envs/assets_v2/franka_xyz/franka_peg_insertion_side.xml | dxyang/metaworld | cab95826319a514c0b4301ac5f1bc1be276c9e02 | [
"MIT"
] | null | null | null | <mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/peg_block_dependencies.xml"/>
<include file="../objects/assets/peg_insert_dependencies.xml"/>
<!-- franka files -->
<include file="../franka_reach/third_party/franka/assets/assets.xml"/>
<include file="../franka_reach/third_party/franka/assets/actuator0.xml"/>
<compiler inertiafromgeom='auto' inertiagrouprange='3 5' angle="radian"/>
<worldbody>
<camera pos="0 0.5 1.5" name="topview" />
<camera name="corner" mode="fixed" pos="-1.1 -0.4 0.6" xyaxes="1 -1 0 0.2 0.2 1"/>
<camera name="corner2" fovy="60" mode="fixed" pos="1.3 -0.2 1.1" euler="3.9 2.3 3.74"/>
<camera name="corner3" fovy="45" mode="fixed" pos="0.9 0 1.5" euler="3.5 2.7 4.14"/>
<body pos='0 0 0' euler='0 0 1.57'>
<geom type='cylinder' size='0.18 .90' pos='-.04 0 -0.90' class='panda_viz'/>
<include file="../franka_reach/third_party/franka/assets/chain0.xml"/>
</body>
<body name="mocap" mocap="true" pos="0 0 1.09" euler="-1.57 0 -.785">
<site name="mocap" pos="0 0 0" rgba="0.0 0.5 0.5 1.0" size="0.05" type="sphere"></site>
</body>
</worldbody>
<!-- franka files -->
<worldbody>
<body name="peg" pos="0 0.6 0.03">
<inertial pos="0 0 0" mass="0.1" diaginertia="100000 100000 100000"/>
<geom name="peg" euler="0 1.57 0" size="0.015 0.015 0.12" type="box" mass=".1" rgba="0.3 1 0.3 1" conaffinity="1" contype="1" group="1"/>
<joint type="free" limited="false" damping="0.005"/>
<site name="pegHead" pos="-0.1 0 0" size="0.005" rgba="0.8 0 0 1"/>
<site name="pegEnd" pos="0.1 0 0" size="0.005" rgba="0.8 0 0 1"/>
<site name="pegGrasp" pos=".03 .0 .01" size="0.005" rgba="0.8 0 0 1"/>
</body>
<body name="box" euler="0 0 1.57" pos="-0.3 0.6 0">
<include file="../objects/assets/peg_block.xml"/>
</body>
<site name="goal" pos="0 0.6 0.05" size="0.01" rgba="0.8 0 0 1"/>
</worldbody>
<equality>
<weld body1="mocap" body2="hand" solref="0.008 1"></weld>
</equality>
</mujoco>
| 44.530612 | 147 | 0.569661 |
24bb4de6b7f2cff75407251e1176d52dd71a8dff | 3,520 | xml | XML | envs/mujoco/envs/assets/hole/polyhedral_hole_inner=0-006892_outer=0-10_height=0-05_num_facets=16_id=086.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=0-006892_outer=0-10_height=0-05_num_facets=16_id=086.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | envs/mujoco/envs/assets/hole/polyhedral_hole_inner=0-006892_outer=0-10_height=0-05_num_facets=16_id=086.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="0.05344598810142081 0.0 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 1.9634954084936207" pos="0.04937765450174445 0.020452894172795465 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 2.356194490192345" pos="0.03779202061373019 0.03779202061373018 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 2.748893571891069" pos="0.020452894172795465 0.04937765450174445 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 3.141592653589793" pos="3.272622912783626e-18 0.05344598810142081 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 3.5342917352885173" pos="-0.02045289417279546 0.04937765450174445 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 3.9269908169872414" pos="-0.03779202061373018 0.03779202061373019 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 4.319689898685965" pos="-0.04937765450174445 0.020452894172795465 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 4.71238898038469" pos="-0.05344598810142081 6.545245825567252e-18 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 5.105088062083414" pos="-0.04937765450174445 -0.020452894172795458 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 5.497787143782138" pos="-0.037792020613730194 -0.03779202061373018 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 5.890486225480862" pos="-0.020452894172795492 -0.04937765450174444 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 6.283185307179586" pos="-9.817868738350877e-18 -0.05344598810142081 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 6.675884388878311" pos="0.020452894172795475 -0.049377654501744445 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 7.0685834705770345" pos="0.03779202061373018 -0.037792020613730194 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" euler="0 0 7.461282552275758" pos="0.04937765450174444 -0.020452894172795496 0.025"
size="0.019891236737965758 0.046554011898579196 0.025" type="box"/>
<geom class="collision" pos="0 0 -0.025" size="0.1 0.025" type="cylinder"/>
<site euler="-3.141592653589793 0 0" name="hole_base" pos="0 0 0" size="0.005 0.005 0.005"/>
<site euler="-3.141592653589793 0 0" name="hole_top" pos="0 0 0.05" size="0.005 0.005 0.005"/>
</body>
</mujoco>
| 85.853659 | 117 | 0.683807 |
24bb920db070e60174d03cefc8d0f92caf093525 | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9610_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9610_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9610_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/961/961.stl" name="obj0" scale="0.004949894690990449 0.004949894690990449 0.004949894690990449" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.04 0.037520362629285056 0.028235991179287656" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.01126206785512543 -0.004282973854608374 0.014638097838897884" size="0.020696999006720555 0.0367367178368503 0.040748587149438145" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0026683197575152915 -0.004707992665284056 0.002125501868747398" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.01126206785512543 -0.004282973854608374 0.0046380978388978825" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.333333 | 221 | 0.656733 |
24beb845a6c232a35270c867a9e1b1de54727332 | 2,778 | xml | XML | fetch/assets/box_bin_drawer.xml | takuma-yoneda/gym-fetch | d7de5007b832a09dd09b7b38bafea375008f2ac6 | [
"MIT"
] | 24 | 2021-06-10T18:44:11.000Z | 2022-03-11T02:57:09.000Z | fetch/assets/box_bin_drawer.xml | takuma-yoneda/gym-fetch | d7de5007b832a09dd09b7b38bafea375008f2ac6 | [
"MIT"
] | 1 | 2021-11-23T14:10:18.000Z | 2021-11-23T14:10:18.000Z | fetch/assets/box_bin_drawer.xml | takuma-yoneda/gym-fetch | d7de5007b832a09dd09b7b38bafea375008f2ac6 | [
"MIT"
] | 2 | 2021-08-28T05:48:57.000Z | 2022-03-30T07:51:31.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="./stls" texturedir="./textures"/>
<option timestep="0.002">
<flag warmstart="enable"/>
</option>
<include file="shared.xml"/>
<size njmax="800" nconmax="200"/>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"/>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
</body>
<include file="robot.xml"/>
<body pos="1.35 0.75 0.2" name="table0">
<geom size="0.35 0.55 0.2" type="box" mass="2000" material="table_mat"/>
</body>
<body name="object0" pos="0.025 0.025 0.025">
<joint name="object0:joint" type="free" damping="0.01"/>
<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"/>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
</body>
<body name="box" pos="0 0 0">
<joint name="box:joint" type="free" damping="0.01"/>
<include file="objects/bin_tall.xml"/>
<site name="box" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
</body>
<body name="lid" pos="0 0 0">
<joint name="lid:joint" type="free" damping="0.01"/>
<include file="objects/lid.xml"/>
<site name="lid" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
</body>
<body name="bin" pos="0 0 0">
<joint name="bin:joint" type="free" damping="0.01"/>
<include file="objects/bin.xml"/>
<site name="bin" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
</body>
<body name="drawer_asm" pos="0 0 0">
<joint name="cabinet:joint" type="free" damping="0.01"/>
<body name="cabinet" pos="0 0 0">
<include file="objects/cabinet.xml"/>
<site name="cabinet" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
</body>
<body name="drawer" pos="0 0 0.05">
<joint name="drawer:slide" type="slide" axis="0 -1 0" range="0 0.2" limited="true" damping="0.01"/>
<include file="objects/drawer.xml"/>
<site name="drawer" pos="0 -0.16 0.085" size="0.02 0.02 0.02" rgba="1 1 1 0.1" type="sphere"/>
</body>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false"
pos="0 0 4" dir="0 0 -1" name="light0"/>
</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>
| 39.126761 | 113 | 0.616631 |
24bf37dc19732ab4e2f970944519346638819cfd | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7584_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7584_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7584_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/758/758.stl" name="obj0" scale="0.009438860350809406 0.009438860350809406 0.009438860350809406" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03129749585639839 0.05877127634867266 0.2241681264173647">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
24c1b5e5d3ca4b33890ce90be6d4100c5f36218e | 9,537 | xml | XML | data_gen/collect_bowl_data_xmls/shared_bowl_538db91266f2829bc0f7e0e05bae6131.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_bowl_data_xmls/shared_bowl_538db91266f2829bc0f7e0e05bae6131.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | data_gen/collect_bowl_data_xmls/shared_bowl_538db91266f2829bc0f7e0e05bae6131.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | <mujoco>
<asset>
<texture builtin="gradient" height="32" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" type="skybox" width="32" />
<texture file="textures/block.png" gridlayout=".U..LFRB.D.." gridsize="3 4" name="texture_block" />
<material name="floor_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" />
<material name="table_mat" reflectance="0" rgba="0.93 0.93 0.93 1" shininess="0.5" specular="0" />
<material name="block_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" />
<material name="puck_mat" reflectance="0" rgba="0.2 0.2 0.2 1" shininess="0.5" specular="0" />
<material name="robot0:geomMat" shininess="0.03" specular="0.4" />
<material name="robot0:gripper_finger_mat" reflectance="0" shininess="0.03" specular="0.4" />
<material name="robot0:gripper_mat" reflectance="0" shininess="0.03" specular="0.4" />
<material name="robot0:arm_mat" reflectance="0" shininess="0.03" specular="0.4" />
<material name="robot0:head_mat" reflectance="0" shininess="0.03" specular="0.4" />
<material name="robot0:torso_mat" reflectance="0" shininess="0.03" specular="0.4" />
<material name="robot0:base_mat" reflectance="0" shininess="0.03" specular="0.4" />
<texture file="textures/ceramic.png" name="tex-ceramic" />
<material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true" />
<mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_0.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_0" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_1.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_1" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_2.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_2" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_3.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_3" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_4.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_4" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_5.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_5" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_6.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_6" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_7.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_7" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_8.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_8" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_9.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_9" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_10.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_10" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_11.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_11" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_12.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_12" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_13.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_13" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_14.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_14" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_15.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_15" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_16.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_16" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_17.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_17" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_18.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_18" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_19.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_19" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_20.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_20" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_21.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_21" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_22.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_22" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_23.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_23" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_24.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_24" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_25.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_25" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_26.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_26" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_27.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_27" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_28.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_28" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_29.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_29" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_30.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_30" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_31.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_31" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_32.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_32" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_33.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_33" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_34.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_34" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_35.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_35" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_36.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_36" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_37.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_37" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_38.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_38" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_39.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_39" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_40.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_40" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_41.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_41" scale="1.2 1.2 1.2" /><mesh file="../meshes/02880940/538db91266f2829bc0f7e0e05bae6131/models/stl_models/convex_model_normalized_42.stl" name="538db91266f2829bc0f7e0e05bae6131_mesh_42" scale="1.2 1.2 1.2" /></asset>
</mujoco> | 433.5 | 7,916 | 0.792912 |
24c250acd766aebbd42e6b300efacd4cc989a9f3 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6093_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6093_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6093_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/609/609.stl" name="obj0" scale="0.004493582464002235 0.004493582464002235 0.004493582464002235" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.013321220720952162 0.04341801605720016 0.02300237677148837">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.0017052035157064849 0.002127646229126414 0.0006085691456363388" rgba="1 0 0 0" size="0.006660610360476081 0.02170900802860008 0.011501188385744186" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 199 | 0.671001 |
24c291a69f037453d0584eb5d734e441ce688f6c | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3299_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3299_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3299_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/329/329.stl" name="obj0" scale="0.010069118688052565 0.010069118688052565 0.010069118688052565" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03237828322609855 0.0670853069113358 0.22663268299679676">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
24c2fff1f875d5a7c916cfba0daa285bae6e3e8c | 4,299 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_731.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_731.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_731.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.0324958307391837 0.03960358059371385 0.0016839977072906367" pos="0.06033928732264626 -0.020209149633449774 0.20168399770729065" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0450825840468152 0.03559185113856187 0.0007617964388231543" pos="-0.1727731650667463 -0.18066422199217488 0.20076179643882316" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0143455247886634 0.004364675300140273 0.002395733224878518" pos="-0.19798439764269832 -0.08208101008792504 0.20239573322487853" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03845538383274488 0.03830788771411005 0.0041447254995368365" pos="-0.19812095367345123 -0.1797077191325141 0.20414472549953686" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04405255813423647 0.046747681042890066 0.0028855927928897666" pos="0.10838559007415605 0.1496076495654607 0.20288559279288979" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04586495461398092 0.009501819301234431 0.0028696614587807546" pos="-0.28075494004494833 -0.10210799583285529 0.20286966145878077" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.013599850796720252 0.029583059849466964 0.002168128239273921" pos="-0.2839782035964724 -0.18079911223011846 0.20216812823927394" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.024648310747791363 0.02450784288384806 0.0010221150731444756" pos="-0.031097536944350745 0.13387629216100672 0.2010221150731445" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.7224400919049998 0.32755990809749996 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="6849.25010434" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="2.6315210529309856"></joint>
<site name="object0" pos="-0.3474400919049998 0.3574400919025001 0.007000000000000062" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.003474400919025 0.003474400919025 0.003474400919025" file="mujoco_models/Filtre_filament.stl" name="object_mesh"/>
<texture file="textures/obj_textures/flecked_0117.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 75.421053 | 282 | 0.671319 |
24c5375cb3a6a2412c4d5b4a4a09438c70022733 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2220_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2220_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2220_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/222/222.stl" name="obj0" scale="0.011758033557848137 0.011758033557848137 0.011758033557848137" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.031742540020344046 0.07324146711876561 0.22195240150693873">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
24c61527327f8397f96ea633cdb002ef3497f6f5 | 1,459 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8354_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8354_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8354_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/835/835.stl" name="obj0" scale="0.0063288287946324205 0.0063288287946324205 0.0063288287946324205" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.018097159361675514 0.04762419301970037 0.22231069421503477">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.394737 | 155 | 0.619602 |
24c7e2f27ccfc0075b3e90e815c2b2bde9391c50 | 1,763 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/742_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/742_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/742_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/074/074.stl" name="obj0" scale="0.004060628915622129 0.004060628915622129 0.004060628915622129" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.01988492010294614 0.030899767887261523 0.0241209560058364">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.003138276089950432 0.009960946253445563 0.00513888936848827" rgba="1 0 0 0" size="0.00994246005147307 0.015449883943630761 0.0120604780029182" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43 | 194 | 0.669881 |
24c8d35b106f34499553b4aa7640f7d326551201 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9030_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9030_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9030_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/903/903.stl" name="obj0" scale="0.004756135399802823 0.004756135399802823 0.004756135399802823" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.027348023489839317 0.04 0.03043189217080067" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.0023269869134141187 -0.01987028585743507 0.021427198369502905" size="0.02623927891427457 0.01867967846218954 0.04953025021612556" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0005678976157151946 -0.008775616954279596 -0.0007550283567833402" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0023269869134141187 -0.01987028585743507 0.011427198369502903" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.351852 | 221 | 0.656491 |
24ccb8d5e19500003b23f75d3e47d7f472819798 | 1,460 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7039_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7039_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7039_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/703/703.stl" name="obj0" scale="0.0065542831454597225 0.0065542831454597225 0.0065542831454597225" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.022760387265215568 0.050768110676695184 0.22364154836843275">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.421053 | 155 | 0.619863 |
24ce3798b83b6a0dda89deca8810495fa772ea5b | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5313_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5313_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5313_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/531/531.stl" name="obj0" scale="0.007515831964396033 0.007515831964396033 0.007515831964396033" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.028264526214385407 0.04593712948423883 0.039759889740197625">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.004244157648935561 0.002576409021746785 -0.0053464221905974" rgba="1 0 0 0" size="0.014132263107192703 0.022968564742119415 0.019879944870098813" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 197 | 0.670249 |
24d07dfc612599342a42615330e474baaaddc97d | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2741_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2741_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2741_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/274/274.stl" name="obj0" scale="0.005162399512236486 0.005162399512236486 0.005162399512236486" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.02109192276395339 0.03894957125909355 0.018538873572375374">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0036455193641129094 0.00922849024760472 -0.003296451934088919" rgba="1 0 0 0" size="0.010545961381976695 0.019474785629546774 0.009269436786187687" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 198 | 0.670814 |
24d314dffdcc95a85506db9a7c9a2704020da707 | 2,726 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3167_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3167_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3167_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/316/316.stl" name="obj0" scale="0.006409423390645864 0.006409423390645864 0.006409423390645864" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.013459215476962851 0.04 0.019039865171369557" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.004225172142006864 -0.00026399907682731567 0.04288025635207929" size="0.011580844893512363 0.01858912000671696 0.056887862305916095" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0005962569503685161 -1.6809174849144374e-05 -0.0005483904768739614" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.004225172142006864 -0.00026399907682731567 0.03288025635207928" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.481481 | 224 | 0.657007 |
24d365a2e977ddf1bc1fb515adf4179f6a3424ee | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/129_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/129_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/129_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/012/012.stl" name="obj0" scale="0.013244376645773649 0.013244376645773649 0.013244376645773649" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.02764022601931918 0.08760559154230207 0.02503016333592489">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.0025252412599096235 -0.023911163590647704 0.001328655766405462" rgba="1 0 0 0" size="0.01382011300965959 0.04380279577115104 0.012515081667962445" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.670062 |
24d3739829a46498ba79f5ea7234efd2b92a6ebb | 7,129 | xml | XML | gym_brt/data/xml/qube.xml | Data-Science-in-Mechanical-Engineering/vision-based-furuta-pendulum | 84bfc5a089a2a8ace250f030f0298d45a3f9772f | [
"MIT"
] | null | null | null | gym_brt/data/xml/qube.xml | Data-Science-in-Mechanical-Engineering/vision-based-furuta-pendulum | 84bfc5a089a2a8ace250f030f0298d45a3f9772f | [
"MIT"
] | null | null | null | gym_brt/data/xml/qube.xml | Data-Science-in-Mechanical-Engineering/vision-based-furuta-pendulum | 84bfc5a089a2a8ace250f030f0298d45a3f9772f | [
"MIT"
] | null | null | null | <?xml version="1.0" encoding="utf-8"?>
<mujoco model="qube">
<!-- Basic options -->
<compiler angle="radian" meshdir="../meshes/"/>
<option timestep="0.004" />
<size njmax="500" nconmax="100" />
<visual>
<quality shadowsize="4096" />
</visual>
<!-- Materials & Assets -->
<asset>
<!-- Assets -->
<include file="shared_assets.xml"/>
<!-- Textures -->
<texture type="2d" name="texbody" builtin="flat" rgb1="0 0 0" width="1024" height="1024" />
<texture type="2d" name="texfloor" builtin="flat" rgb1="1 1 1" width="1024" height="1024" />
<texture type="2d" name="texwall" builtin="flat" rgb1="1 1 1" width="1024" height="1024" />
<texture type="2d" name="texred" builtin="flat" rgb1="0.721569 0.25098 0.235294" width="1024" height="1024" />
<texture type="2d" name="texsilver" builtin="flat" rgb1="0.7529 0.7529 0.7529" width="512" height="512" />
<!-- Materials -->
<material name="floorMat" texture="texfloor" specular="1.0" shininess="0.1" />
<material name="wallMat" texture="texwall" specular="1.0" shininess="0.1" />
<material name="bodyMat" texture="texbody" specular="0.75" shininess="0.3" />
<material name="redMat" texture="texred" specular="1.0" shininess="0.9" reflectance="1.0"/>
<material name="silverMat" texture="texsilver" specular="0.75" shininess="0.6" reflectance="1.0"/>
</asset>
<worldbody>
<!-- Top & side lights -->
<light name="light_top" pos="0 -0.03 0.5" diffuse=".8 .8 .8" dir="0 0 -1" directional="false" specular="0.9 0.9 0.9" castshadow="false"/>
<light name="light_right" pos="0.5 -0.03 0.5" diffuse=".6 .6 .6" dir="-1 0 -1" directional="false" specular="0.9 0.9 0.9" castshadow="false"/>
<light name="light_left" pos="-0.5 -0.03 0.5" diffuse=".6 .6 .6" dir="1 0 -1" directional="false" specular="0.9 0.9 0.9" castshadow="false"/>
<!-- Camera -->
<camera name="blackfly" pos="0. -0.415 0.275" euler="1.167377293 0 0" fovy="35" />
<!-- Main light -->
<light name="light_main" pos="0 -0.465 0.38" diffuse=".8 .8 .8" dir="0 1 -0.65" directional="false" specular="0.9 0.9 0.9" castshadow="true" exponent="100"/>
<!-- Walls -->
<geom name="ground" pos="0 0 0" size="0.5 0.5 1" type="plane" material="floorMat"/>
<geom name="wall_back" pos="0 0.16 0.165" euler="1.570796327 0 0" size="0.3 0.165 0.01" type="box" material="floorMat"/>
<geom name="wall_left" pos="-0.3 -0.09 0.165" euler="0 1.570796327 0" size="0.165 0.25 0.01" type="box" material="floorMat"/>
<geom name="wall_right" pos="0.3 -0.09 0.165" euler="0 -1.570796327 0" size="0.165 0.25 0.01" type="box" material="floorMat"/>
<geom name="platform" pos="0 0 0.005" euler="0 0 0" size="0.05 0.05 0.005" type="box" material="floorMat"/>
<!-- Qube -->
<body name="base" pos="0 0 0.005" quat="0 0 0 1">
<inertial pos="0.000323 -0.00132 0.054992" mass="1.0" fullinertia="0.16666666667 0.16666666667 0.16666666667 0.000000000 0.000000000 0.000000000" />
<geom name="qube0:base" pos="0.000323 -0.00132 0.054992" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="bodyMat" mesh="qube0:base" />
<geom name="qube0:base:screw:01" pos="0.009938 0.009932 0.10653" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:base:screw:01" />
<geom name="qube0:base:screw:02" pos="0.009938 -0.009927 0.10653" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:base:screw:02" />
<geom name="qube0:base:screw:03" pos="-0.009938 0.009932 0.10653" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:base:screw:03" />
<geom name="qube0:base:screw:04" pos="-0.009938 -0.009931 0.10653" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:base:screw:04" />
<geom name="qube0:base:aux:female" pos="0 -0.026394 0.1078" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:base:aux:female" />
<!-- Cable -->
<body name="cable" pos="0 -0.002359 0.1667">
<!-- <geom name="qube:cable" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="bodyMat" mesh="qube0:cable" /> -->
<geom name="qube:cable:aux:male" pos="0 -0.023859 -0.0447" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="bodyMat" mesh="qube0:cable:aux:male" />
</body>
<!-- Motor -->
<body name="motor" pos="0 0 0.12672">
<inertial pos="0 0.008561 0.00125" mass="0.088" fullinertia="0.00001955483012 0.00000622772374 0.00001955483012 0.000000000 0.000000000 0.000000000" />
<geom name="qube:motor:main" pos="0 -0.000486 0.00135" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="redMat" mesh="qube0:motor:main" />
<geom name="qube:motor:drive" pos="0.000009 -0.000053 -0.01472" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:motor:drive" />
<geom name="qube:motor:front" pos="0.000031 0.025329 0.00124" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="bodyMat" mesh="qube0:motor:front" />
<geom name="qube:motor:part" pos="0 0.015289 -0.01559" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:motor:part" />
<joint axis="0 0 1" name="base_motor" range="-90 90" type="hinge" damping="0.0004975"/>
<!-- Rotary Arm -->
<body name="arm" pos="0 0.054882 0">
<inertial pos="0 0 0" mass="0.0069000000000000025" fullinertia="0.000002500 0.000000030 0.000002500 0.000000000 0.000000000 0.000000000" />
<geom name="qube:arm" pos="0 0 0" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="silverMat" mesh="qube0:arm" />
<joint axis="0 1 0" name="arm_pole" range="-90 90" type="hinge" damping="0.00009985"/>
<!-- Pole -->
<body name="pole" pos="0 0.030562 0">
<inertial pos="-0.000022 0 0.05851" mass="0.024" fullinertia="0.000031118 0.000031122 0.000000273 0.000000000 0.000000000 0.000000000" />
<geom name="qube:pole" pos="-0.000022 0 0.05851" type="mesh" contype="0" conaffinity="0" condim="1" friction="0 0 0" material="redMat" mesh="qube0:pole" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<general joint="base_motor" name="motor_rotation" ctrllimited="true" ctrlrange="-18 18" gainprm="1.4 0 0 0 0 0 0 0 0 0"/>
</actuator>
</mujoco>
| 72.744898 | 197 | 0.59279 |
24dd9e51a4610c99ac50fbe3761e4067a437d7e8 | 99,420 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_017_orange_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/easy_pushing_017_orange_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/easy_pushing_017_orange_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">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.8985653716825728 1.8985653716825728 1.8985653716825728"/><mesh class="geom0" file="ycb_objects/077_rubiks_cube/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.6362285341010638 0.6362285341010638 0.6362285341010638"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.7357633200506505 0.7357633200506505 0.7357633200506505"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.609165828077828 0.609165828077828 0.609165828077828"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.544297157140724" name="gen_body_0" pos="-0.05 -0.35 0.30024799999664536"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.30111864917886144 0.4478705602028069 0.9183805927865033 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.2052067677475442" name="gen_body_gadded_1" pos="0.1801431620825375 -0.28348491787481084 0.29874535223231496"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.788507697906654 0.5223557725181345 0.9494202451239182 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.765985915978255" name="gen_body_gadded_2" pos="-0.2001828580170617 -0.3013207413798248 0.3002396888232617"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4763008359337668 0.7909655252418815 0.4710861947423004 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.704722911643172" name="gen_body_gadded_3" pos="-0.25973966925863357 0.15408020285997026 0.30022341693336246"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.861225480852826 0.4550272227098946 0.9708813301286824 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.524739612230734" name="gen_body_gadded_4" pos="-0.6603037626890021 -0.7393189241302225 0.30297694966838573"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.6690804692386456 0.6534283975665478 0.8209960522225627 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 145.350877 | 19,113 | 0.69146 |
24df9fe74df33ad85ea7e5bef2eff512255625e2 | 1,188 | xml | XML | gym_kuka_mujoco/envs/assets/full_pushing_experiment_no_collision.xml | leonmkim/gym-kuka-mujoco | ed45ae74d10e69f4e51439de2d1d0c0811623b6b | [
"MIT"
] | 23 | 2019-03-12T21:19:12.000Z | 2022-03-08T15:03:40.000Z | gym_kuka_mujoco/envs/assets/full_pushing_experiment_no_collision.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 16 | 2019-04-21T17:50:13.000Z | 2022-03-11T23:40:29.000Z | gym_kuka_mujoco/envs/assets/full_pushing_experiment_no_collision.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 14 | 2019-05-21T08:56:43.000Z | 2021-12-31T04:23:29.000Z | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="0" conaffinity="0"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<include file="pushing/block_collision.xml"/>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<!-- <sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
--></mujoco>
| 25.826087 | 100 | 0.585017 |
24e1ec6b241c0cb1b9f10ce447366058c757944e | 78,292 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_lamp_4_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_lamp_4_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_lamp_4_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/lamp_4/scene.stl" name="gen_mesh_0" scale="1 1 1"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.4130866039467795" name="gen_body_0" pos="-0.05 -0.35 0.5317436635494233"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.21005482812891207 0.6229477802902968 0.11187899697508741 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 114.461988 | 295 | 0.684412 |
24e409d0f9dac7672f9336a7d60be8b9a4c5adc5 | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4353_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4353_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4353_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/435/435.stl" name="obj0" scale="0.006390024405100708 0.006390024405100708 0.006390024405100708" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.03488301542695667 0.04 0.015852848600992016" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.03346410869898142 -0.004508268966298908 0.032388586610284334" size="0.010044845557243628 0.017463107594383364 0.04886181851569576" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.009339702820315616 -0.013788867468141692 -0.0006203833044194063" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.03346410869898142 -0.004508268966298908 0.022388586610284332" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.296296 | 221 | 0.656848 |
24e908b8154ef84deffebd586d06c0821d6c77ee | 2,721 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7645_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7645_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7645_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/764/764.stl" name="obj0" scale="0.0054849125482115246 0.0054849125482115246 0.0054849125482115246" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.01871564876402638 0.04 0.011447700844642252" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.0005114020567835473 0.007992078098320761 0.041452378052277014" size="0.017020489470921205 0.016680850545289266 0.053251650002454166" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0011583590359369707 0.009963921077795547 -0.0003515711055349034" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0005114020567835473 0.007992078098320761 0.03145237805227701" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.388889 | 223 | 0.658581 |
24e90b248e7901d1e4d9d203cd3893a00a46f4b4 | 3,062 | xml | XML | project/experiments/exp_007_body_dataset_3/input_data/bodies/300.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_007_body_dataset_3/input_data/bodies/300.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_007_body_dataset_3/input_data/bodies/300.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | <!-- converted to geom fromto version -->
<mujoco model="walker2d">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<default>
<joint armature="0.01" damping=".1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<worldbody>
<body name="torso" pos="0 0 1.45">
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="0 0 0 0 0 -.4" name="torso_geom" size="0.05" type="capsule"/>
<body name="thigh" pos="0 0 -.4">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom fromto="0 0 0 0 0 -.45" name="thigh_geom" size="0.05" type="capsule"/>
<body name="leg" pos="0 0 -.45">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom fromto="0 0 0 0 0 -.5" name="leg_geom" size="0.04" type="capsule"/>
<body name="foot" pos="0 0 -.5">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0" range="-45 45" type="hinge"/>
<geom fromto="0 0 0 0.2 0 0" name="foot_geom" size="0.06" type="capsule"/>
</body>
</body>
</body>
<body name="thigh_left" pos="0 0 -.4">
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom fromto="0 0 0 0 0 -.45" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
<body name="leg_left" pos="0 0 -.45">
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0" range="-150 0" type="hinge"/>
<geom fromto="0 0 0 0 0 -.5" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
<body name="foot_left" pos="0 0 -.5">
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0" range="-45 45" type="hinge"/>
<geom fromto="0 0 0 0.2 0 0" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
</actuator>
</mujoco>
| 61.24 | 135 | 0.564664 |
24e9c0358396a9ed398968cf8d18afaddd91db87 | 3,883 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_111.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_111.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_111.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.011268530747234301 0.010541153278710351 0.004857541120212209" pos="-0.11855214810905382 0.20355083155558912 0.20485754112021223" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.021617072493267817 0.04324433718900011 0.0033476574241616893" pos="-0.29574454529759664 -0.23303986491667092 0.2033476574241617" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0025359053358178854 0.005431807675418114 0.0011795389422361862" pos="0.17134961268850485 0.14020837851005774 0.2011795389422362" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.012990964252482733 0.020130724136115195 0.004311490882275422" pos="-0.2566073044435284 0.03888945521714249 0.20431149088227543" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.006636375098066194 0.049708681596772414 0.0022640661466448737" pos="0.24916277097257328 -0.20821037260489533 0.20226406614664488" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04952500249403677 0.0039058927511910722 0.0003887193795136103" pos="0.19394228157479276 0.16595534491525626 0.2003887193795136" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.375 0.67499999644725 0.42344217855349997" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="182.223038731" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="2.189066755147846"></joint>
<site name="object0" pos="0.0 0.010000003552750103 -0.003442178553499986" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.0002328319479585 0.0002328319479585 0.0002328319479585" file="mujoco_models/VOLCANO.stl" name="object_mesh"/>
<texture file="textures/obj_textures/wrinkled_0028.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 70.6 | 283 | 0.659542 |
24ec72e3ef76a5f506967a2e04daf8d979233890 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7416_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7416_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7416_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/741/741.stl" name="obj0" scale="0.011246620788415521 0.011246620788415521 0.011246620788415521" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.032107719016569336 0.08296512379102733 0.030004786498378642">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.0002826811202800104 0.001529217839498424 -0.0019409226688973209" rgba="1 0 0 0" size="0.016053859508284668 0.041482561895513664 0.015002393249189321" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.219512 | 201 | 0.670993 |
24edb83f23d7b703834e1f19a0bf516926cd90c8 | 4,400 | xml | XML | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=2.5_height=0.175.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=2.5_height=0.175.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=2.5_height=0.175.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | <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>
<body name="wall" pos="2.5 0. 0.">
<geom conaffinity="1" contype="1" density="0.00001" rgba="1. 0. 1. 1." pos="2.5 0. 0." size="0.01 0.4 0.17500000000000002" type="box" />
</body>
<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 mode="trackcom" name="track" 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" />
<body name="bthigh" pos="-.5 0 0">
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge" />
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule" />
<body name="bshin" pos=".16 0 -.25">
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge" />
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule" />
<body name="bfoot" pos="-.28 0 -.14">
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge" />
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule" />
</body>
</body>
</body>
<body name="fthigh" pos=".5 0 0">
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge" />
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule" />
<body name="fshin" pos="-.14 0 -.24">
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge" />
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule" />
<body name="ffoot" pos=".13 0 -.18">
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge" />
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh" />
<motor gear="90" joint="bshin" name="bshin" />
<motor gear="60" joint="bfoot" name="bfoot" />
<motor gear="120" joint="fthigh" name="fthigh" />
<motor gear="60" joint="fshin" name="fshin" />
<motor gear="30" joint="ffoot" name="ffoot" />
</actuator>
</mujoco> | 65.671642 | 164 | 0.572273 |
24ee4e5ee801e40d51d8f82229fcd6f02700bc0f | 2,724 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3480_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3480_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3480_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/348/348.stl" name="obj0" scale="0.0063298450612175134 0.0063298450612175134 0.0063298450612175134" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.02705225761836414 0.04 0.015166523981409245" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.011071821914164124 -0.012496068112636214 0.027403013109221455" size="0.014667728933717098 0.014715404754181793 0.046720166836398944" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.004139763733781781 -0.004589277526031195 -0.004150629745768239" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.011071821914164124 -0.012496068112636214 0.017403013109221453" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.444444 | 224 | 0.656755 |
24eede54f1979ffdf313a1282de7ccb6fb57cba5 | 1,459 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9868_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9868_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9868_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/986/986.stl" name="obj0" scale="0.0063158430684594705 0.0063158430684594705 0.0063158430684594705" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.021366080254955868 0.04402058933795594 0.22991566017312354">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.394737 | 155 | 0.619602 |
24ef234e9e557671809277aed42858fad8ee8d07 | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7886_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7886_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7886_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/788/788.stl" name="obj0" scale="0.01201613636320565 0.01201613636320565 0.01201613636320565" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03740721782184098 0.06690262093771554 0.21863955088796824">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.210526 | 155 | 0.617769 |
24ef6b7b4505c19091bc62c70111d318ea90fccb | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7916_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7916_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7916_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/791/791.stl" name="obj0" scale="0.005698497619595082 0.005698497619595082 0.005698497619595082" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.032438224724242584 0.04 0.031174349238694967" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.006649482425241273 0.0058068915753611075 0.012708419994770178" size="0.023244881190387454 0.013504584663244307 0.042653156358193285" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0011706967575354033 -0.009241407502660295 0.001229612875271858" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.006649482425241273 0.0058068915753611075 0.002708419994770176" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 224 | 0.657605 |
24efac3ea47d04b5c0ba6d6036cb8dfe2aba95d2 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/997_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/997_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/997_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/099/099.stl" name="obj0" scale="0.004441059616839809 0.004441059616839809 0.004441059616839809" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.02555283115052477 0.04 0.025927025951720462" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.003418541063363317 -0.006806679321866348 0.029028966724678397" size="0.0174523414268902 0.014194889060708626 0.05425810882339906" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0002814112490876788 5.538547467467819e-05 0.0003236890518041097" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.003418541063363317 -0.006806679321866348 0.019028966724678395" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.351852 | 221 | 0.656491 |
24f01dcec571cc65902f929658939e4eb91330c5 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8949_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8949_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8949_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/894/894.stl" name="obj0" scale="0.012415702973319705 0.012415702973319705 0.012415702973319705" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03683980557606787 0.08213472350052094 0.2195817922076089">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.263158 | 155 | 0.618294 |
24f0462ba99079d0eff60ceeef15d982764b16de | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3897_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3897_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3897_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/389/389.stl" name="obj0" scale="0.004192391150283486 0.004192391150283486 0.004192391150283486" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.024183797869432415 0.03471652452530466 0.015615183409316662">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.012453522955646359 0.0021965443811060156 0.0009371960999615567" rgba="1 0 0 0" size="0.012091898934716207 0.01735826226265233 0.007807591704658331" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 198 | 0.671566 |
24f08ab7e233af4c72ed29ecb8e4fe2f02c9c742 | 5,159 | xml | XML | src/envs/xmls/humanoid_2d_8_right_knee.xml | liusida/modular-rl | b3972e669834ba1a8ac505642f786194a7987958 | [
"BSD-2-Clause"
] | null | null | null | src/envs/xmls/humanoid_2d_8_right_knee.xml | liusida/modular-rl | b3972e669834ba1a8ac505642f786194a7987958 | [
"BSD-2-Clause"
] | null | null | null | src/envs/xmls/humanoid_2d_8_right_knee.xml | liusida/modular-rl | b3972e669834ba1a8ac505642f786194a7987958 | [
"BSD-2-Clause"
] | null | null | null | <mujoco model="humanoid">
<include file="../../misc/skybox.xml" />
<include file="../../misc/visual.xml" />
<include file="../../misc/materials.xml" />
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" material="self" />
<motor ctrllimited="true" ctrlrange="-1 1"/>
</default>
<option integrator="RK4" timestep="0.002" />
<visual>
<map fogend="5" fogstart="3"/>
</visual>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-1 -0 -1.5" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" material="grid" name="floor" pos="0 0 0" size="20 20 0.125" type="plane" />
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
<body name="torso">
<camera name="tilted" mode="trackcom" pos="3.6 4 -0.2" xyaxes="1 -.9 0 0 0 -1"/>
<camera name="track" mode="trackcom" pos="0 4 0" xyaxes="1 0 0 0 0 -1"/>
<joint armature="0.02" axis="1 0 0" damping="0" name="abdomen_x" pos="0 0 0" stiffness="0" type="slide" limited="false"/>
<joint armature="0.02" axis="0 0 1" damping="0" name="abdomen_z" pos="0 0 0" ref="1.25" stiffness="0" type="slide" limited="false"/>
<joint armature="0.02" axis="0 1 0" damping="0" name="abdomen_y" pos="0 0 1.1" stiffness="0" type="hinge" limited="false"/>
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
<geom name="head" pos="0 0 .19" size=".09" type="sphere"/>
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
<geom fromto="-.01 -.06 -0.260 -.01 .06 -0.260" name="lwaist" size="0.06" quat="1.000 0 -0.002 0" type="capsule"/>
<geom fromto="-.02 -.07 -0.425 -.02 .07 -0.425" name="butt" size="0.09" quat="1.000 0 -0.002 0" type="capsule"/>
<body name="right_thigh">
<joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
</body>
<body name="left_thigh">
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
<body name="left_shin">
<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 -.3" name="left_shin1" size="0.049" type="capsule"/>
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 -0.35"/>
</body>
</body>
<body name="right_upper_arm">
<joint armature="0.0060" axis="0 -1 0" name="right_shoulder1" 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">
<joint armature="0.0028" axis="0 -1 0" 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"/>
<camera pos="0 0 0"/>
</body>
</body>
<body name="left_upper_arm">
<joint armature="0.0060" axis="0 -1 0" name="left_shoulder1" 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">
<joint armature="0.0028" axis="0 -1 0" 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>
<actuator>
<!--<motor gear="100" joint="abdomen_y" name="abdomen_y"/>-->
<motor gear="150" joint="right_hip_y" name="right_hip_y"/>
<motor gear="150" joint="left_hip_y" name="left_hip_y"/>
<motor gear="100" joint="left_knee" name="left_knee"/>
<motor gear="12.5" joint="right_shoulder1" name="right_shoulder1"/>
<motor gear="12.5" joint="right_elbow" name="right_elbow"/>
<motor gear="12.5" joint="left_shoulder1" name="left_shoulder1"/>
<motor gear="12.5" joint="left_elbow" name="left_elbow"/>
</actuator>
</mujoco>
| 63.691358 | 144 | 0.540221 |
24f32d6d59ca017f33ecf2092c1646c5e78976fb | 17,445 | xml | XML | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581743836_065599/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581743836_065599/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581743836_065599/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | <mujoco model="base">
<compiler angle="radian" meshdir="meshes/" />
<option cone="elliptic" impratio="20" />
<size nconmax="5000" njmax="5000" />
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512" />
<material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/pedestal.stl" name="pedestal" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/head.stl" name="head" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l1.stl" name="l1" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l2.stl" name="l2" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l3.stl" name="l3" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l4.stl" name="l4" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l5.stl" name="l5" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l6.stl" name="l6" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/electric_gripper_base.STL" name="electric_gripper_base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/standard_narrow.STL" name="standard_narrow" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/half_round_tip.STL" name="half_round_tip" />
</asset>
<actuator>
<velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0" />
<velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5" />
<velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6" />
<position ctrllimited="true" ctrlrange="-0.0115 0.020833" forcelimited="true" forcerange="-20 20" joint="r_gripper_r_finger_joint" kp="10000" name="gripper_r_gripper_r_finger_joint" />
<position ctrllimited="true" ctrlrange="-0.020833 0.0115" forcelimited="true" forcerange="-20 20" joint="r_gripper_l_finger_joint" kp="10000" name="gripper_r_gripper_l_finger_joint" />
</actuator>
<worldbody>
<geom condim="3" material="floorplane" name="floor" pos="0.56 0.0 0.0" size="3 3 .125" type="plane" />
<body name="table" pos="0.56 0.0 0.4">
<geom friction="1.0 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<site name="table_top" pos="0.0 0.0 0.4" rgba="0 0 0 0" size="0.001 0.001 0.001" />
</body>
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1.56 1.0 4.0" specular="0.3 0.3 0.3" />
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-2.44 -3.0 4.0" specular="0.3 0.3 0.3" />
<camera mode="fixed" name="frontview" pos="2.16 0.0 1.45" quat="0.56 0.43 0.43 0.56" />
<camera mode="fixed" name="birdview" pos="0.36000000000000004 0.0 3.0" quat="0.7071 0 0 0.7071" />
<camera mode="fixed" name="agentview" pos="1.06 0.0 1.35" quat="0.653 0.271 0.271 0.653" />
<body name="base" pos="0.0 0.0 0.913">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
<geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" />
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
<geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" />
</body>
<body name="torso" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
<geom conaffinity="0" contype="0" group="1" mesh="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" />
<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" />
<geom conaffinity="0" contype="0" group="1" mesh="base" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" />
<body name="right_l0" pos="0 0 0.08">
<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" />
<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" />
<geom conaffinity="0" contype="0" group="1" mesh="l0" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="head" pos="0 0 0.2965">
<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" />
<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064" />
<geom conaffinity="0" contype="0" group="1" mesh="head" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box" />
<geom rgba="0.2 0.2 0.2 1" size="0.001" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" />
<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736" />
<geom conaffinity="0" contype="0" group="1" mesh="l1" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" />
<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426" />
<geom conaffinity="0" contype="0" group="1" mesh="l2" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" />
<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439" />
<geom conaffinity="0" contype="0" group="1" mesh="l3" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" />
<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l4" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" />
<joint axis="0 0 1" damping="0.2" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l5" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" />
<joint axis="0 0 1" damping="0.1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" />
<geom conaffinity="0" contype="0" group="1" mesh="l6" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" />
<body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom size="1e-08 5e-09" type="cylinder" />
<body name="right_gripper_base" pos="0 0 0.025">
<inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
<geom conaffinity="0" contype="0" group="1" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" type="mesh" />
<geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
<body name="right_gripper" pos="0 0 0.095">
<inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
<site group="1" name="grip_site" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />
<site group="1" name="grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10" type="cylinder" />
<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" />
</body>
<body name="r_gripper_l_finger" pos="0 0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_l_finger_joint" pos="0 0 0" range="-0.0115 0.020833" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_l_finger" quat="0 0 0 -1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g0" pos="0 0.01725 0.04" quat="0 0 0 -1" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g1" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" quat="0 0 0 1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_fingertip_g0" pos="0 -0.0045 -0.015" quat="0 0 0 1" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
<body name="r_gripper_r_finger" pos="0 -0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_r_finger_joint" pos="0 0 0" range="-0.020833 0.0115" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_r_finger" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g0" pos="0 -0.01725 0.04" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g1" pos="0.005 0.003 0.0083" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_fingertip_g0" pos="0 0.0045 -0.015" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_l4_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0.01 0.26" size="0.06" />
</body>
</body>
</body>
<body name="right_l2_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.26" size="0.06" />
</body>
</body>
<body name="right_l1_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" />
</body>
</body>
</body>
</body>
</body>
<body name="cube" pos="0.53522776 -0.0287869 0.82162434" quat="0.8775825618903728 0 0 0.479425538604203"><geom density="3000" friction="1.0 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.021928288008011488 0.02167484181307236 0.0218474053509253" type="box" /><site name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cube" type="free" /></body></worldbody>
<equality>
</equality>
<contact /><default /></mujoco> | 84.275362 | 423 | 0.586644 |
24f56110b387207bc22cf192e707762a0a45f7ab | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/15_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/15_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/15_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/001/001.stl" name="obj0" scale="0.0038223882501859253 0.0038223882501859253 0.0038223882501859253" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.010935482012121665 0.03475771216867878 0.026006992608715883">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0011264640237468458 -0.021396657825323358 -0.008082856263952361" rgba="1 0 0 0" size="0.005467741006060832 0.01737885608433939 0.013003496304357941" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.243902 | 199 | 0.671179 |
24f588ba045294c9dadf6a8a7c348c3d2bfde0f0 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7788_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7788_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7788_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/778/778.stl" name="obj0" scale="0.010386932209966325 0.010386932209966325 0.010386932209966325" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.03760490130762313 0.07796845755395901 0.023671216064445076">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.001315844902602237 -0.009002548849384591 -0.0011041432206852875" rgba="1 0 0 0" size="0.018802450653811566 0.038984228776979504 0.011835608032222538" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670621 |
24f5d35d8af94bd030a911955d9150b5bce0e7a0 | 1,763 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/214_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/214_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/214_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/021/021.stl" name="obj0" scale="0.003861524458802389 0.003861524458802389 0.003861524458802389" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.0212580628520552 0.0314103466068746 0.013080838804466146">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.00419852165785785 -0.010517806297614039 -0.0013733064253069111" rgba="1 0 0 0" size="0.0106290314260276 0.0157051733034373 0.006540419402233073" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43 | 195 | 0.669314 |
24f8a504a3b4126b6b31903f4c7cc8132071c264 | 9,202 | xml | XML | domain_data/mujoco_worlds/pr2_arm_damped.xml | sfpd/rlreloaded | 650c64ec22ad45996c8c577d85b1a4f20aa1c692 | [
"MIT"
] | null | null | null | domain_data/mujoco_worlds/pr2_arm_damped.xml | sfpd/rlreloaded | 650c64ec22ad45996c8c577d85b1a4f20aa1c692 | [
"MIT"
] | null | null | null | domain_data/mujoco_worlds/pr2_arm_damped.xml | sfpd/rlreloaded | 650c64ec22ad45996c8c577d85b1a4f20aa1c692 | [
"MIT"
] | null | null | null | <mujoco model="pr2">
<compiler coordinate="local" angle="radian" meshdir="PR2Meshes/" />
<size nlmax="56" ncmax="415" njmax="1345" nctotmax="415" nstack="1807309" />
<option timestep="0.01" eqsoft="true" remotecontact="true" gravity="0 0 -9.8" iterations='20'/>
<default>
<joint damping="1" islimited="true" makeactuator="true"/>
<geom friction=".5 .1 .1" mindist="0.002" compliance="0.001" timeconst="0.01" contype="1" conaffinity="2"/>
<mesh fitcontype="0" fitconaffinity="0" fitgroup="0" align="true" center="true"/>
</default>
<body>
<body name="r_shoulder_pan_link" pos="0 -0.188 0">
<inertial pos="-0.001201 0.024513 -0.098231" quat="0.927482 -0.0876561 0.0740595 -0.355821" mass="25.7993" diaginertia="0.934201 0.837701 0.242033" />
<joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 0.714602" damping="10.0" maxvel="2.088" />
<mesh rgba="0 0 0.8 1" pos="0.00645155 -4.34445e-006 -0.140676" quat="0.692093 0.0507578 0.0488731 0.718361" file="shoulder_pan.stl" />
<body name="r_shoulder_lift_link" pos="0.1 0 0">
<inertial pos="0.02195 -0.02664 -0.03127" quat="0.791779 0.478014 0.238985 0.295762" mass="2.74988" diaginertia="0.0261874 0.0207302 0.0151681" />
<joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="10.0" maxvel="2.082" />
<mesh rgba="0.7 0.7 0.7 1" pos="-0.0101108 0.000641356 0.00148515" quat="0.709908 0.0394999 0.0363673 0.702245" file="shoulder_lift.stl" />
<body name="r_upper_arm_roll_link" pos="0 0 0">
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
<joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-3.9 0.8" damping="0.1" maxvel="3.27" />
<mesh pos="0.125779 0.00380475 0.00014116" quat="0.999818 0.00852125 -0.000774767 0.0170583" file="upper_arm_roll.stl" />
<body name="r_upper_arm_link" pos="0 0 0">
<inertial pos="0.21398 -0.01621 -0.0002" quat="-0.0450196 0.697462 -0.088537 0.709705" mass="6.01769" diaginertia="0.0761385 0.0749307 0.0151327" />
<mesh rgba="0 0.8 0 1" pos="0.283134 -3.47422e-005 -0.00997193" quat="0.50005 0.499455 0.500039 0.500455" file="upper_arm.stl" />
<body name="r_elbow_flex_link" pos="0.4 0 0">
<inertial pos="0.01014 0.00032 -0.01211" quat="0.308784 0.646797 0.639077 0.279083" mass="1.90327" diaginertia="0.00441852 0.00396477 0.00308977" />
<joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="1.0" maxvel="3.3" />
<mesh rgba="0.7 0.7 0.7 1" pos="0.0144133 -0.000209096 -0.00189559" quat="0.463199 0.534284 0.534267 0.463191" file="elbow_flex.stl" />
<body name="r_forearm_roll_link" pos="0 0 0">
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
<joint name="r_forearm_roll_joint" type="hinge" islimited="false" pos="0 0 0" axis="1 0 0" damping=".1" maxvel="3.6" />
<mesh pos="0.0819619 -7.78054e-005 0.00368734" quat="0.00105922 0.668438 -0.000151894 0.743767" file="forearm_roll.stl" />
<body name="r_forearm_link" pos="0 0 0">
<inertial pos="0.18791 -0.00017 -0.00912" quat="-0.000586594 0.726286 -0.00396869 0.687381" mass="2.57968" diaginertia="0.0166326 0.0150775 0.00360892" />
<mesh rgba="0.7 0.7 0.7 1" pos="0.205385 1.71716e-005 -0.00373009" quat="0.00011562 0.733643 -9.11036e-005 0.679535" file="forearm.stl" />
<body name="r_wrist_flex_link" pos="0.321 0 0">
<inertial pos="-0.00157 0 -0.00075" quat="0.695976 0.696411 -0.12356 0.123942" mass="0.61402" diaginertia="0.000652771 0.000643391 0.000198244" />
<joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.094 0" damping=".1" maxvel="3.078" />
<mesh rgba="0.7 0.7 0.7 1" pos="-0.00174128 1.73133e-006 -0.00124653" quat="0.702474 -0.0813866 -0.0814375 0.702335" file="wrist_flex.stl" />
<body name="r_wrist_roll_link" pos="0 0 0">
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" />
<joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" islimited="false" axis="1 0 0" damping="0.1" maxvel="3.6" />
<mesh pos="0.0317615 2.35852e-007 8.42538e-006" quat="0.704477 0.709727 6.14587e-005 -9.8782e-005" file="wrist_roll.stl" />
<body name="r_gripper_palm_link" pos="0 0 0">
<inertial pos="0.06623 0.00053 -0.00119" quat="-0.0181842 0.706274 0.0160771 0.707523" mass="0.58007" diaginertia="0.000865637 0.000678178 0.000351471" />
<mesh rgba="0.8 0 0 1" pos="0.080029 -1.33057e-006 2.11805e-006" quat="0.499818 0.500153 -0.499913 0.500117" file="gripper_palm.stl" />
<body name="r_gripper_led_frame" pos="0.0513 0 0.0244">
<inertial pos="0.0513 0 0.0244" mass="0" diaginertia="0 0 0" />
</body>
<body name="r_gripper_motor_accelerometer_link" pos="0 0 0">
<inertial pos="0 0 0" mass="0.001" diaginertia="0.001 0.001 0.001" />
<geom type="box" size="0.0005 0.0005 0.0005" pos="0 0 0" />
</body>
<body name="r_gripper_tool_frame" pos="0.18 0 0">
<inertial pos="0.18 0 0" mass="0" diaginertia="0 0 0" />
<site name="finger_tip_site" pos="0 0 0"/>
</body>
<body name="r_gripper_l_finger_link" pos="0.07691 0.01 0">
<inertial pos="0.03598 0.0173 -0.00164" quat="0.57444 0.429111 0.518782 0.465562" mass="0.17126" diaginertia="0.00019774 0.000181336 7.66239e-005" />
<joint name="r_gripper_l_finger_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.548" damping="0.2" maxvel="0.5" />
<mesh rgba="0.7 0.7 0.7 1" pos="0.0316962 0.0175359 2.35653e-006" quat="0.49235 0.492407 0.507462 0.507551" file="l_finger.stl" />
<body name="r_gripper_l_finger_tip_link" pos="0.09137 0.00495 0">
<inertial pos="0.00423 0.00284 0" quat="0.249588 0.661594 -0.249588 0.661594" mass="0.04419" diaginertia="1.54177e-005 1.50049e-005 3.23624e-006" />
<joint name="r_gripper_l_finger_tip_joint" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.548" damping="0.01" maxvel="0.5" />
<mesh rgba="0 0.8 0 1" pos="0.00357238 0.00201403 9.97072e-006" quat="0.258504 0.659589 -0.254405 0.658329" file="l_finger_tip.stl" />
</body>
</body>
<body name="r_gripper_r_finger_link" pos="0.07691 -0.01 0">
<inertial pos="0.03576 -0.01736 -0.00095" quat="0.474684 0.510909 0.446353 0.560727" mass="0.17389" diaginertia="0.000198903 0.00018134 7.66847e-005" />
<joint name="r_gripper_r_finger_joint" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.548" damping="0.2" maxvel="0.5" />
<mesh rgba="0.7 0.7 0.7 1" pos="0.0316962 -0.0175359 -2.35653e-006" quat="-0.492407 0.49235 -0.507551 0.507462" file="l_finger.stl" />
<body name="r_gripper_r_finger_tip_link" pos="0.09137 -0.00495 0">
<inertial pos="0.00423 -0.00284 0" quat="-0.249588 0.661594 0.249588 0.661594" mass="0.04419" diaginertia="1.54177e-005 1.50049e-005 3.23624e-006" />
<joint name="r_gripper_r_finger_tip_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.548" damping="0.01" maxvel="0.5" />
<mesh rgba="0 0.8 0 1" pos="0.00357238 -0.00201403 -9.97072e-006" quat="-0.659589 0.258504 -0.658329 -0.254405" file="l_finger_tip.stl" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="w1" pos="0.5 -0.8 -0.6">
<geom name="wall1" type="box" size="0.02 0.02 0.2" contype="2" conaffinity="1"/>
</body>
</body>
<features>
<feature name='control'>
<data field='ctrl' item='all'/>
</feature>
</features>
<costs>
<physics_options timestep='0.01'/>
<optimization_options
logeps='-30'
horizon='400'
logmurange='-5 3'
/>
<cost name='dummy'>
<term feature='control' norm='quadratic' coef_running='.1' />
</cost>
</costs>
</mujoco>
| 68.671642 | 179 | 0.552923 |
24f8f86baa68ab4230adbed921d51867f6be0eac | 1,774 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/660_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/660_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/660_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/066/066.stl" name="obj0" scale="0.0031344414108659393 0.0031344414108659393 0.0031344414108659393" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.0261399625145263 0.043152229469139984 0.010784274488307256">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0011756258939408198 0.00039294761952644457 -0.0018579418801611333" rgba="1 0 0 0" size="0.01306998125726315 0.021576114734569992 0.005392137244153628" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.268293 | 201 | 0.671928 |
24fb7c99454d50e56ba1f00ad10cadfddd8d2e32 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9112_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9112_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9112_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/911/911.stl" name="obj0" scale="0.007875931790890802 0.007875931790890802 0.007875931790890802" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.023818101512535696 0.06551469814326807 0.21742773191400863">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
24fd1b455c4b65f2338199b160570dda2bbfd797 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4578_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4578_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4578_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/457/457.stl" name="obj0" scale="0.009443380794199955 0.009443380794199955 0.009443380794199955" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.022967506122545552 0.05757891796209791 0.22659028446169568">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
24fde736528531fde74b3e28b8bae5023ba92322 | 17,448 | xml | XML | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581744148_1695988/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581744148_1695988/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581744148_1695988/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | <mujoco model="base">
<compiler angle="radian" meshdir="meshes/" />
<option cone="elliptic" impratio="20" />
<size nconmax="5000" njmax="5000" />
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512" />
<material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/pedestal.stl" name="pedestal" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/head.stl" name="head" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l1.stl" name="l1" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l2.stl" name="l2" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l3.stl" name="l3" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l4.stl" name="l4" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l5.stl" name="l5" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l6.stl" name="l6" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/electric_gripper_base.STL" name="electric_gripper_base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/standard_narrow.STL" name="standard_narrow" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/half_round_tip.STL" name="half_round_tip" />
</asset>
<actuator>
<velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0" />
<velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5" />
<velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6" />
<position ctrllimited="true" ctrlrange="-0.0115 0.020833" forcelimited="true" forcerange="-20 20" joint="r_gripper_r_finger_joint" kp="10000" name="gripper_r_gripper_r_finger_joint" />
<position ctrllimited="true" ctrlrange="-0.020833 0.0115" forcelimited="true" forcerange="-20 20" joint="r_gripper_l_finger_joint" kp="10000" name="gripper_r_gripper_l_finger_joint" />
</actuator>
<worldbody>
<geom condim="3" material="floorplane" name="floor" pos="0.56 0.0 0.0" size="3 3 .125" type="plane" />
<body name="table" pos="0.56 0.0 0.4">
<geom friction="1.0 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<site name="table_top" pos="0.0 0.0 0.4" rgba="0 0 0 0" size="0.001 0.001 0.001" />
</body>
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1.56 1.0 4.0" specular="0.3 0.3 0.3" />
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-2.44 -3.0 4.0" specular="0.3 0.3 0.3" />
<camera mode="fixed" name="frontview" pos="2.16 0.0 1.45" quat="0.56 0.43 0.43 0.56" />
<camera mode="fixed" name="birdview" pos="0.36000000000000004 0.0 3.0" quat="0.7071 0 0 0.7071" />
<camera mode="fixed" name="agentview" pos="1.06 0.0 1.35" quat="0.653 0.271 0.271 0.653" />
<body name="base" pos="0.0 0.0 0.913">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
<geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" />
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
<geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" />
</body>
<body name="torso" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
<geom conaffinity="0" contype="0" group="1" mesh="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" />
<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" />
<geom conaffinity="0" contype="0" group="1" mesh="base" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" />
<body name="right_l0" pos="0 0 0.08">
<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" />
<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" />
<geom conaffinity="0" contype="0" group="1" mesh="l0" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="head" pos="0 0 0.2965">
<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" />
<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064" />
<geom conaffinity="0" contype="0" group="1" mesh="head" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box" />
<geom rgba="0.2 0.2 0.2 1" size="0.001" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" />
<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736" />
<geom conaffinity="0" contype="0" group="1" mesh="l1" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" />
<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426" />
<geom conaffinity="0" contype="0" group="1" mesh="l2" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" />
<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439" />
<geom conaffinity="0" contype="0" group="1" mesh="l3" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" />
<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l4" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" />
<joint axis="0 0 1" damping="0.2" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l5" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" />
<joint axis="0 0 1" damping="0.1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" />
<geom conaffinity="0" contype="0" group="1" mesh="l6" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" />
<body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom size="1e-08 5e-09" type="cylinder" />
<body name="right_gripper_base" pos="0 0 0.025">
<inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
<geom conaffinity="0" contype="0" group="1" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" type="mesh" />
<geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
<body name="right_gripper" pos="0 0 0.095">
<inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
<site group="1" name="grip_site" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />
<site group="1" name="grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10" type="cylinder" />
<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" />
</body>
<body name="r_gripper_l_finger" pos="0 0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_l_finger_joint" pos="0 0 0" range="-0.0115 0.020833" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_l_finger" quat="0 0 0 -1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g0" pos="0 0.01725 0.04" quat="0 0 0 -1" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g1" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" quat="0 0 0 1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_fingertip_g0" pos="0 -0.0045 -0.015" quat="0 0 0 1" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
<body name="r_gripper_r_finger" pos="0 -0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_r_finger_joint" pos="0 0 0" range="-0.020833 0.0115" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_r_finger" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g0" pos="0 -0.01725 0.04" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g1" pos="0.005 0.003 0.0083" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_fingertip_g0" pos="0 0.0045 -0.015" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_l4_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0.01 0.26" size="0.06" />
</body>
</body>
</body>
<body name="right_l2_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.26" size="0.06" />
</body>
</body>
<body name="right_l1_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" />
</body>
</body>
</body>
</body>
</body>
<body name="cube" pos="0.53522776 -0.0287869 0.82162434" quat="0.8775825618903728 0 0 0.479425538604203"><geom density="200" friction="0.25 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.020839581987363694 0.021296541819931274 0.021571347348420433" type="box" /><site name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cube" type="free" /></body></worldbody>
<equality>
</equality>
<contact /><default /></mujoco> | 84.289855 | 426 | 0.586715 |
24fee379c974ba3ca41659f22193a2620744d97b | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9337_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9337_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9337_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/933/933.stl" name="obj0" scale="0.010220462462589933 0.010220462462589933 0.010220462462589933" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.036324116378867455 0.07555607186366006 0.03669319260908527">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0021761156922069 -0.0059846987883419855 -0.002223815137163738" rgba="1 0 0 0" size="0.018162058189433727 0.03777803593183003 0.018346596304542634" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 197 | 0.670062 |
24ffeb4fdbc04d6047733cbd722bea2bd9969667 | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6881_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6881_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6881_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/688/688.stl" name="obj0" scale="0.005383046485365212 0.005383046485365212 0.005383046485365212" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.02913318215495866 0.04 0.03286807438266718" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.01609221214170542 -0.004681607060879179 0.015703392553739277" size="0.020439525327712656 0.016165733503746088 0.04619159534837747" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0056790428812636086 -0.0014796119689735343 -0.0013550206396795302" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.01609221214170542 -0.004681607060879179 0.005703392553739275" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.314815 | 221 | 0.656975 |
7002058716b1a457a1107a9c3341e8f8a73ac59c | 80,815 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_lamp_3_0_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_lamp_3_0_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_lamp_3_0_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/lamp_3/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.8557966198318203 1.8557966198318203 1.8557966198318203"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.3719445902842444 1.3719445902842444 1.3719445902842444"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.7548485382450763 1.7548485382450763 1.7548485382450763"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.9646297323942241 0.9646297323942241 0.9646297323942241"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.3264426096453332 1.3264426096453332 1.3264426096453332"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 1.0556049892477763" name="gen_body_0" pos="-0.05 -0.35 0.5010347247123719"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.18452557979816642 0.6956418339686079 0.20250090579405655 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.600771289072299" name="gen_body_gadded_1" pos="0.11513359482368424 -0.35 0.3028259547373552"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6428795472017445 0.2915103247594787 0.3424726559630459 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.240689006361097" name="gen_body_gadded_2" pos="0.19658870197779393 -0.26548670336675606 0.3010181976940723"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4054830676446983 0.32769617132735407 0.12138112395309097 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.801046840781513" name="gen_body_gadded_3" pos="-0.23295202396572143 -0.2847036828414696 0.30084777683439745"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.7741412851072128 0.14095216892527207 0.28821977175208036 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.90563666083648" name="gen_body_gadded_4" pos="0.1794845114283224 -0.44549626582667656 0.30011869288951204"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.3818458961967738 0.1816612979281177 0.2564911653263541 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 5.215969954401802" name="gen_body_gadded_5" pos="0.24716637018550322 -0.7440143137136239 0.30648222933945346"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.20751939687597332 0.36424079337665205 0.41568327108825154 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position 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> | 118.150585 | 1,962 | 0.688065 |
70070d61b747c5812e3b6e84576b3adf13e3b023 | 3,384 | xml | XML | custom_vendor/dm_control/dm_control/suite/finger.xml | geyang/dmc_generalization | 051fefc470931810c856e89629d481b06cc8d530 | [
"MIT"
] | 75 | 2020-11-30T07:59:09.000Z | 2022-03-30T21:26:53.000Z | custom_vendor/dm_control/dm_control/suite/finger.xml | geyang/dmc_generalization | 051fefc470931810c856e89629d481b06cc8d530 | [
"MIT"
] | 12 | 2021-02-02T09:03:44.000Z | 2022-03-29T19:17:39.000Z | custom_vendor/dm_control/dm_control/suite/finger.xml | geyang/dmc_generalization | 051fefc470931810c856e89629d481b06cc8d530 | [
"MIT"
] | 18 | 2020-12-04T03:48:34.000Z | 2022-03-21T15:10:08.000Z | <mujoco model="finger">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<option timestep="0.01" cone="elliptic" iterations="200">
<flag gravity="disable"/>
</option>
<default>
<geom solimp="0 0.9 0.01" solref=".02 1"/>
<joint type="hinge" axis="0 -1 0"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
<default class="finger">
<joint damping="2.5" limited="true"/>
<site type="ellipsoid" size=".025 .03 .025" material="site" group="3"/>
</default>
</default>
<worldbody>
<light name="light" directional="true" diffuse=".6 .6 .6" pos="0 0 2" specular=".3 .3 .3"/>
<geom name="ground" type="plane" pos="0 0 0" size=".6 .2 10" material="grid"/>
<camera name="cam0" pos="0 -1 .8" xyaxes="1 0 0 0 1 2"/>
<camera name="cam1" pos="0 -1 .4" xyaxes="1 0 0 0 0 1" />
<body name="proximal" pos="-.2 0 .4" childclass="finger">
<geom name="proximal_decoration" type="cylinder" fromto="0 -.033 0 0 .033 0" size=".034" material="decoration"/>
<joint name="proximal" range="-110 110" ref="-90"/>
<geom name="proximal" type="capsule" material="self" size=".03" fromto="0 0 0 0 0 -.17"/>
<body name="distal" pos="0 0 -.18" childclass="finger">
<joint name="distal" range="-110 110"/>
<geom name="distal" type="capsule" size=".028" material="self" fromto="0 0 0 0 0 -.16" contype="0" conaffinity="0"/>
<geom name="fingertip" type="capsule" size=".03" material="effector" fromto="0 0 -.13 0 0 -.161"/>
<site name="touchtop" pos=".01 0 -.17"/>
<site name="touchbottom" pos="-.01 0 -.17"/>
</body>
</body>
<body name="spinner" pos=".2 0 .4">
<joint name="hinge" frictionloss=".1" damping=".5"/>
<geom name="cap1" type="capsule" size=".04 .09" material="self" pos=".02 0 0"/>
<geom name="cap2" type="capsule" size=".04 .09" material="self" pos="-.02 0 0"/>
<site name="tip" type="sphere" size=".02" pos="0 0 .13" material="target"/>
<geom name="spinner_decoration" type="cylinder" fromto="0 -.045 0 0 .045 0" size=".02" material="decoration"/>
</body>
<!-- <body name='distractor'>
<geom name="distractor_1" pos=".2 .15 .075" size=".075 .075 .075" material="target"/>
</body> -->
<site name="target" type="sphere" size=".03" pos="0 0 .4" material="target"/>
</worldbody>
<actuator>
<motor name="proximal" joint="proximal" gear="30"/>
<motor name="distal" joint="distal" gear="15"/>
</actuator>
<!-- All finger observations are functions of sensors. This is useful for finite-differencing. -->
<sensor>
<jointpos name="proximal" joint="proximal"/>
<jointpos name="distal" joint="distal"/>
<jointvel name="proximal_velocity" joint="proximal"/>
<jointvel name="distal_velocity" joint="distal"/>
<jointvel name="hinge_velocity" joint="hinge"/>
<framepos name="tip" objtype="site" objname="tip"/>
<framepos name="target" objtype="site" objname="target"/>
<framepos name="spinner" objtype="xbody" objname="spinner"/>
<touch name="touchtop" site="touchtop"/>
<touch name="touchbottom" site="touchbottom"/>
<framepos name="touchtop_pos" objtype="site" objname="touchtop"/>
<framepos name="touchbottom_pos" objtype="site" objname="touchbottom"/>
</sensor>
</mujoco>
| 43.948052 | 124 | 0.612884 |
7008a3cac1c4e86553d240932f82be4c20b4d698 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/495_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/495_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/495_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/049/049.stl" name="obj0" scale="0.006180965854722115 0.006180965854722115 0.006180965854722115" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.017214632725849978 0.04 0.019608582611042404" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.0008299011051118817 -0.009292054965416068 0.027084868743871872" size="0.01900654668228445 0.012790172735783962 0.04336326184502572" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00025449933735766496 -0.003950958003910384 0.000936239624696127" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0008299011051118817 -0.009292054965416068 0.01708486874387187" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.65687 |
70097c38c0257e0a220f924400f7298cad3054fc | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8276_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8276_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8276_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/827/827.stl" name="obj0" scale="0.004301460167745754 0.004301460167745754 0.004301460167745754" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.01871157970708292 0.02777269803183296 0.22523817661668322">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
7009b9ba4d5e71cac40c3bacb40d62a896b114d9 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3186_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3186_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3186_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/318/318.stl" name="obj0" scale="0.003928043791685433 0.003928043791685433 0.003928043791685433" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.011527435677291554 0.032031024912977914 0.2315480287203085">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
700ac353ce97285a081472f308bc43a7f91d7aa6 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5777_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5777_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5777_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/577/577.stl" name="obj0" scale="0.014456405365566988 0.014456405365566988 0.014456405365566988" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.026135229286220765 0.08967715918892512 0.21151736755732845">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
700b58189975589615f5b19c7c21d443a2cfc127 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/377_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/377_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/377_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/037/037.stl" name="obj0" scale="0.005733167235505658 0.005733167235505658 0.005733167235505658" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.019548532251835383 0.04349728755642307 0.03975444092522832">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="-0.0036816327846469934 -0.015277819777663019 -0.012539659859213502" rgba="1 0 0 0" size="0.009774266125917691 0.021748643778211535 0.01987722046261416" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670056 |
700be15f74d6a9824a8bff0709e1294dc24ebb32 | 79,291 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_cup_1_2_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_cup_1_2_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_cup_1_2_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cup_1/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/004_sugar_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.9615993384388153 1.9615993384388153 1.9615993384388153"/><mesh class="geom0" file="ycb_objects/007_tuna_fish_can/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.3676803942946936 1.3676803942946936 1.3676803942946936"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.081142687710999" name="gen_body_0" pos="-0.05 -0.35 0.4547001749277115"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.2733865077404959 0.20425218659039057 0.20599972005061795 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.8028653852336936" name="gen_body_gadded_1" pos="0.09225160183451757 -0.35 0.3029870692382898"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6797449888859844 0.22181294585672917 0.7702814533947488 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 6.06582821011457" name="gen_body_gadded_2" pos="0.08398389930611293 -0.5974788604751902 0.3045881199397394"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2816892543933476 0.8748270871835439 0.5427639489399593 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.922515 | 949 | 0.685866 |
700cbe9ce7272e61be190b815f317a1d6c2df444 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7093_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7093_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7093_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/709/709.stl" name="obj0" scale="0.009029650628486012 0.009029650628486012 0.009029650628486012" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.02491753762092223 0.05768529999418952 0.21853437826548858">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.289474 | 155 | 0.618557 |
700cccaf8deec2acc5df47abb40d4dca25a97f88 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3526_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3526_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3526_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/352/352.stl" name="obj0" scale="0.011076091755843516 0.011076091755843516 0.011076091755843516" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.027852793188309303 0.07313762139195652 0.23575330851924783">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.315789 | 155 | 0.618819 |
700e1fc123fd0911602c59ae11afa9d1dff3c279 | 1,762 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5151_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5151_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5151_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/515/515.stl" name="obj0" scale="0.0154479880900008 0.0154479880900008 0.0154479880900008" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.028803175441496832 0.09940798101101818 0.03007418955757783">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0027361736591240185 0.008003017188211765 0.0002441936757611436" rgba="1 0 0 0" size="0.014401587720748416 0.04970399050550909 0.015037094778788914" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 42.97561 | 198 | 0.670261 |
7010ffd3a0f119e0481623aeb41567569ac1f074 | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/960_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/960_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/960_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/096/096.stl" name="obj0" scale="0.00781993497256481 0.00781993497256481 0.00781993497256481" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.02726031286419836 0.057202050150749306 0.22008578840465923">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.236842 | 155 | 0.618032 |
70118e6b74b27b0f2b100c2e6ff12ba50a218678 | 4,649 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_862.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 19 | 2019-10-19T09:05:08.000Z | 2022-01-27T13:36:37.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_862.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 13 | 2019-12-07T12:47:20.000Z | 2022-01-13T01:44:35.000Z | assets/fetch_complex_objects/fetch/train_scene_hook_862.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
"MIT"
] | 8 | 2019-10-24T23:36:58.000Z | 2022-01-27T13:36:39.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="1.42 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.65 0.75 0.2" name="table0">
<geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.009350438695769098 0.04272764704854739 0.0018835436987486133" pos="-0.12484691038045989 -0.014502987464619699 0.2018835436987486" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04269677245074036 0.04859326828620903 0.00374574748256442" pos="-0.15001054759035112 -0.23921751534956015 0.20374574748256444" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0296666126457515 0.029758038221515865 0.0012283945698414087" pos="0.039857364987607 0.04163075728064802 0.20122839456984143" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0481839119521878 0.03918085218368914 0.003762094372906877" pos="-0.293313238010488 -0.24323490317582674 0.20376209437290688" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03749698828020855 0.029266323930220148 0.0010522956961812357" pos="0.06535298786570409 -0.1247955501666575 0.20105229569618124" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.040046524014619445 0.03388987175279097 0.0038297367507091605" pos="-0.20989446342341844 -0.10497322173024629 0.20382973675070917" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.039196212069700795 0.007639413682948957 0.0004856820854622658" pos="0.009231143109404927 -0.2527746145432502 0.20048568208546227" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0323795391131041 0.04004119050875538 0.0023167174153204337" pos="-0.02528333669726468 0.1334725738887272 0.20231671741532045" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03789027907577926 0.02447388096335607 0.004632499760312005" pos="-0.044944731779376856 -0.11172560042100729 0.204632499760312" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.022943208447070387 0.010420786828515747 0.003543550890967213" pos="0.23410958838571078 -0.26429761226118903 0.20354355089096723" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.375 0.6749999999999999 0.47024976717699996" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="373.325709918" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="4.044726720837023"></joint>
<site name="object0" pos="0.0 0.01000000000000012 -0.05024976717699997" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site>
</body>
<body name="hook" pos="1.0 0.025 0.025">
<joint name="hook:joint" type="free" damping="0.01"></joint>
<geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom>
<geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom>
<site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<asset>
<mesh scale="0.0057249767177 0.0057249767177 0.0057249767177" file="mujoco_models/dodecagonal_prism.stl" name="object_mesh"/>
<texture file="textures/obj_textures/sprinkled_0035.png" name="object"/>
<material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/>
</asset>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
</actuator>
</mujoco>
| 78.79661 | 284 | 0.677565 |
7011922e9dc1c209d97639c5aa65b2c192c33e4a | 79,290 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_cardboard_box_2_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cardboard_box_2_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cardboard_box_2_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cardboard_box/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/010_potted_meat_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.9452548307798458 1.9452548307798458 1.9452548307798458"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.5426140080849303 0.5426140080849303 0.5426140080849303"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 3.330484279793466" name="gen_body_0" pos="0 0 0.3425949655473232"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.2824954083592327 0.6007504122402682 0.15931828579242302 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.8436135147315147" name="gen_body_gadded_1" pos="0.14324892944960682 0.0 0.3096946482472193"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9053529259783416 0.6421411416191511 0.2579831800058038 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.726293816144238" name="gen_body_gadded_2" pos="0.5334061729897812 -0.29947263578278477 0.3026517157294091"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.781987182286698 0.960050800130025 0.7006696593786634 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.921053 | 936 | 0.685925 |
701239666e70a23581da8a2525043a3754effb77 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7985_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7985_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7985_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/798/798.stl" name="obj0" scale="0.008159398421028653 0.008159398421028653 0.008159398421028653" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.009754724000308176 0.044267233209997287 0.02143670198736253">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0004032430456755664 -0.002327245519424527 0.00041491774581356927" rgba="1 0 0 0" size="0.004877362000154088 0.022133616604998643 0.010718350993681265" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.219512 | 201 | 0.671558 |
701442f627649a6281f9abb48a94e6bc9e53fb9a | 17,445 | xml | XML | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581744123_4613326/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581744123_4613326/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581743210_8442552/ep_1581744123_4613326/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | <mujoco model="base">
<compiler angle="radian" meshdir="meshes/" />
<option cone="elliptic" impratio="20" />
<size nconmax="5000" njmax="5000" />
<asset>
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256" />
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d" width="512" />
<material name="floorplane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/pedestal.stl" name="pedestal" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/base.stl" name="base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l0.stl" name="l0" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/head.stl" name="head" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l1.stl" name="l1" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l2.stl" name="l2" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l3.stl" name="l3" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l4.stl" name="l4" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l5.stl" name="l5" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/robots/sawyer/meshes/l6.stl" name="l6" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/electric_gripper_base.STL" name="electric_gripper_base" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/standard_narrow.STL" name="standard_narrow" />
<mesh file="/home/mastercljohnson/Robotics/GAIL_Part/mod_surreal/robosuite/models/assets/grippers/meshes/two_finger_gripper/half_round_tip.STL" name="half_round_tip" />
</asset>
<actuator>
<velocity ctrllimited="true" ctrlrange="-1.74 1.74" joint="right_j0" kv="8.0" name="vel_right_j0" />
<velocity ctrllimited="true" ctrlrange="-1.328 1.328" joint="right_j1" kv="7.0" name="vel_right_j1" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j2" kv="6.0" name="vel_right_j2" />
<velocity ctrllimited="true" ctrlrange="-1.957 1.957" joint="right_j3" kv="4.0" name="vel_right_j3" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j4" kv="2.0" name="vel_right_j4" />
<velocity ctrllimited="true" ctrlrange="-3.485 3.485" joint="right_j5" kv="0.5" name="vel_right_j5" />
<velocity ctrllimited="true" ctrlrange="-4.545 4.545" joint="right_j6" kv="0.1" name="vel_right_j6" />
<position ctrllimited="true" ctrlrange="-0.0115 0.020833" forcelimited="true" forcerange="-20 20" joint="r_gripper_r_finger_joint" kp="10000" name="gripper_r_gripper_r_finger_joint" />
<position ctrllimited="true" ctrlrange="-0.020833 0.0115" forcelimited="true" forcerange="-20 20" joint="r_gripper_l_finger_joint" kp="10000" name="gripper_r_gripper_l_finger_joint" />
</actuator>
<worldbody>
<geom condim="3" material="floorplane" name="floor" pos="0.56 0.0 0.0" size="3 3 .125" type="plane" />
<body name="table" pos="0.56 0.0 0.4">
<geom friction="1.0 0.005 0.0001" name="table_collision" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<geom conaffinity="0" contype="0" group="1" name="table_visual" pos="0 0 0" size="0.4 0.4 0.4" type="box" />
<site name="table_top" pos="0.0 0.0 0.4" rgba="0 0 0 0" size="0.001 0.001 0.001" />
</body>
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1.56 1.0 4.0" specular="0.3 0.3 0.3" />
<light castshadow="false" diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-2.44 -3.0 4.0" specular="0.3 0.3 0.3" />
<camera mode="fixed" name="frontview" pos="2.16 0.0 1.45" quat="0.56 0.43 0.43 0.56" />
<camera mode="fixed" name="birdview" pos="0.36000000000000004 0.0 3.0" quat="0.7071 0 0 0.7071" />
<camera mode="fixed" name="agentview" pos="1.06 0.0 1.35" quat="0.653 0.271 0.271 0.653" />
<body name="base" pos="0.0 0.0 0.913">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial diaginertia="1.71363 1.27988 0.809981" mass="46.64" pos="-0.325 0 -0.38" />
<geom pos="-0.325 0 -0.38" size="0.11 0.2 0.265" type="box" />
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial diaginertia="8.16095 9.59375 15.0785" mass="167.09" pos="-0.1225 0 -0.758" />
<geom pos="-0.1225 0 -0.758" size="0.385 0.35 0.155" type="box" />
</body>
<body name="torso" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.05 0.05 0.05" type="box" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial diaginertia="6.0869 5.81635 4.20915" mass="60.864" pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" />
<geom conaffinity="0" contype="0" group="1" mesh="pedestal" pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" rgba="0.2 0.2 0.2 1" type="mesh" />
<geom pos="-0.02 0 -0.29" rgba="0.2 0.2 0.2 1" size="0.18 0.31" type="cylinder" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial diaginertia="0.00740351 0.00681776 0.00672942" mass="2.0687" pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" />
<geom conaffinity="0" contype="0" group="1" mesh="base" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.12" rgba="0.5 0.1 0.1 1" size="0.08 0.12" type="cylinder" />
<body name="right_l0" pos="0 0 0.08">
<inertial diaginertia="0.0651588 0.0510944 0.0186218" mass="5.3213" pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" />
<joint axis="0 0 1" limited="true" name="right_j0" pos="0 0 0" range="-3.0503 3.0503" />
<geom conaffinity="0" contype="0" group="1" mesh="l0" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0.08 0 0.23" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="head" pos="0 0 0.2965">
<inertial diaginertia="0.0118334 0.00827089 0.00496574" mass="1.5795" pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" />
<joint axis="0 0 1" limited="true" name="head_pan" pos="0 0 0" range="-5.0952 0.9064" />
<geom conaffinity="0" contype="0" group="1" mesh="head" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.018" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" rgba="0.2 0.2 0.2 1" size="0.12 0.07 0.001" type="box" />
<geom rgba="0.2 0.2 0.2 1" size="0.001" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial diaginertia="0 0 0" mass="0" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial diaginertia="0.0224339 0.0221624 0.0097097" mass="4.505" pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" />
<joint axis="0 0 1" limited="true" name="right_j1" pos="0 0 0" range="-3.8095 2.2736" />
<geom conaffinity="0" contype="0" group="1" mesh="l1" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1225" rgba="0.5 0.1 0.1 1" size="0.07" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0257928 0.025506 0.00292515" mass="1.745" pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" />
<joint axis="0 0 1" limited="true" name="right_j2" pos="0 0 0" range="-3.0426 3.0426" />
<geom conaffinity="0" contype="0" group="1" mesh="l2" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.08" rgba="0.5 0.1 0.1 1" size="0.06 0.17" type="cylinder" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.0102404 0.0096997 0.00369622" mass="2.5097" pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" />
<joint axis="0 0 1" limited="true" name="right_j3" pos="0 0 0" range="-3.0439 3.0439" />
<geom conaffinity="0" contype="0" group="1" mesh="l3" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0.0136549 0.0135493 0.00127353" mass="1.1136" pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" />
<joint axis="0 0 1" limited="true" name="right_j4" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l4" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.11" rgba="0.5 0.1 0.1 1" size="0.045 0.15" type="cylinder" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="0.0001" pos="0 0 0" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial diaginertia="0.00474131 0.00422857 0.00190672" mass="1.5625" pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" />
<joint axis="0 0 1" damping="0.2" limited="true" name="right_j5" pos="0 0 0" range="-2.9761 2.9761" />
<geom conaffinity="0" contype="0" group="1" mesh="l5" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0 0.1" rgba="0.5 0.1 0.1 1" size="0.06" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial diaginertia="0 0 0" mass="0" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0.10541" quat="0.707107 0.707107 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
<inertial diaginertia="0.000360258 0.000311068 0.000214974" mass="0.3292" pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" />
<joint axis="0 0 1" damping="0.1" limited="true" name="right_j6" pos="0 0 0" range="-4.7124 4.7124" />
<geom conaffinity="0" contype="0" group="1" mesh="l6" rgba="0.5 0.1 0.1 1" type="mesh" />
<geom pos="0 0.015 -0.01" rgba="0.5 0.1 0.1 1" size="0.055 0.025" type="cylinder" />
<body name="right_hand" pos="0 0 0.0245" quat="0.707105 0 0 0.707108">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom size="1e-08 5e-09" type="cylinder" />
<body name="right_gripper_base" pos="0 0 0.025">
<inertial diaginertia="3e-08 2e-08 2e-08" mass="0.3" pos="0 0 0" quat="-0.5 0.5 0.5 0.5" />
<geom conaffinity="0" contype="0" group="1" mesh="electric_gripper_base" quat="0 0 0.707107 0.707107" type="mesh" />
<geom quat="0 0 0.707107 0.707107" size="0.029 0.05" type="cylinder" />
<body name="right_gripper" pos="0 0 0.095">
<inertial diaginertia="0 0 0" mass="0.0001" pos="0 0 0" />
<site group="1" name="grip_site" pos="0 0 0" rgba="1 0 0 1" size="0.01 0.01 0.01" type="sphere" />
<site group="1" name="grip_site_cylinder" pos="0 0 0" rgba="0 1 0 0.3" size="0.005 10" type="cylinder" />
<camera fovy="75" mode="fixed" name="eye_in_hand" pos="0 0 0" quat="0 -1 1 0" />
</body>
<body name="r_gripper_l_finger" pos="0 0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" quat="0 0 0 -1" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_l_finger_joint" pos="0 0 0" range="-0.0115 0.020833" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_l_finger" quat="0 0 0 -1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g0" pos="0 0.01725 0.04" quat="0 0 0 -1" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_finger_g1" pos="-0.005 -0.003 0.0083" quat="0 0 0 -1" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_l_finger_tip" pos="0 0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" quat="0 0 0 1" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" quat="0 0 0 1" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="l_fingertip_g0" pos="0 -0.0045 -0.015" quat="0 0 0 1" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
<body name="r_gripper_r_finger" pos="0 -0.01 0.02">
<inertial diaginertia="0.01 0.01 0.01" mass="0.02" pos="0 0 0" />
<joint axis="0 1 0" damping="100" limited="true" name="r_gripper_r_finger_joint" pos="0 0 0" range="-0.020833 0.0115" type="slide" />
<geom conaffinity="0" contype="0" group="1" mesh="standard_narrow" name="r_gripper_r_finger" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g0" pos="0 -0.01725 0.04" size="0.005 0.00675 0.0375" type="box" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_finger_g1" pos="0.005 0.003 0.0083" size="0.005 0.025 0.0085" type="box" />
<body name="r_gripper_r_finger_tip" pos="0 -0.01725 0.075">
<inertial diaginertia="0.01 0.01 0.01" mass="0.01" pos="0 0 0" />
<geom conaffinity="0" contype="0" group="1" mesh="half_round_tip" type="mesh" />
<geom conaffinity="1" contype="0" friction="0 0 0" name="r_fingertip_g0" pos="0 0.0045 -0.015" size="0.004 0.004 0.0185" type="box" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="right_l4_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0.01 0.26" size="0.06" />
</body>
</body>
</body>
<body name="right_l2_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.26" size="0.06" />
</body>
</body>
<body name="right_l1_2" pos="0 0 0">
<inertial diaginertia="1e-08 1e-08 1e-08" mass="1e-08" pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" />
<geom pos="0 0 0.035" size="0.07 0.07" type="cylinder" />
</body>
</body>
</body>
</body>
</body>
<body name="cube" pos="0.53522776 -0.0287869 0.82162434" quat="0.8775825618903728 0 0 0.479425538604203"><geom density="200" friction="1.5 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.02032027757744266 0.021432159988515775 0.02103593865265182" type="box" /><site name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.002 0.002 0.002" type="sphere" /><joint name="cube" type="free" /></body></worldbody>
<equality>
</equality>
<contact /><default /></mujoco> | 84.275362 | 423 | 0.586644 |
7014feb6104491ba239389375028cdc6638a6e08 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8141_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8141_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8141_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/814/814.stl" name="obj0" scale="0.0052607984350772465 0.0052607984350772465 0.0052607984350772465" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.0371787832700765 0.04034023904644244 0.021962092142165494">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.0031878048387678666 -0.0004569060902651997 -0.0013324022443576514" rgba="1 0 0 0" size="0.01858939163503825 0.02017011952322122 0.010981046071082747" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.219512 | 200 | 0.670993 |
701538cb2aa67da21952417c736ec78bf9da5873 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6813_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6813_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6813_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/681/681.stl" name="obj0" scale="0.006030971916828452 0.006030971916828452 0.006030971916828452" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.2">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" />
</body>
<body name="object0" pos="0.03967840955480949 0.04670375605934078 0.03546834486494138">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="object0" pos="0.011722656604238218 -0.022799824575002802 -0.0007534736188075052" rgba="1 0 0 0" size="0.019839204777404744 0.02335187802967039 0.01773417243247069" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.670062 |
7015e36c3adbbb99bd991df900468a0cc684d8c4 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5901_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5901_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5901_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/590/590.stl" name="obj0" scale="0.009747787482754754 0.009747787482754754 0.009747787482754754" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.030838105354336683 0.055698068105674556 0.23589567665525163">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.342105 | 155 | 0.61908 |
70186e58ab5620680368301aec016f54860597c5 | 15,912 | xml | XML | brl_gym/envs/mujoco/assets/wam/wam_with_object.xml | gilwoolee/brl_gym | 9c0784e9928f12d2ee0528c79a533202d3afb640 | [
"BSD-3-Clause"
] | 2 | 2020-08-07T05:50:44.000Z | 2022-03-03T08:46:10.000Z | brl_gym/envs/mujoco/assets/wam/wam_with_object.xml | gilwoolee/brl_gym | 9c0784e9928f12d2ee0528c79a533202d3afb640 | [
"BSD-3-Clause"
] | null | null | null | brl_gym/envs/mujoco/assets/wam/wam_with_object.xml | gilwoolee/brl_gym | 9c0784e9928f12d2ee0528c79a533202d3afb640 | [
"BSD-3-Clause"
] | null | null | null | <mujoco model="pusher_plane_cube_2d">
<asset>
<mesh file="wam1.STL"/>
<mesh file="wam1_collision.STL"/>
<mesh file="wam2.STL"/>
<mesh file="wam2_collision.STL"/>
<mesh file="wam3.STL"/>
<mesh file="wam3_collision.STL"/>
<mesh file="wam4.STL"/>
<mesh file="wam4_collision.STL"/>
<mesh file="wam5.STL"/>
<mesh file="wam5_collision.STL"/>
<mesh file="wam6.STL"/>
<mesh file="wam6_collision.STL"/>
<mesh file="wam7.STL"/>
<mesh file="wam7_collision.STL"/>
<mesh file="wam_base.STL"/>
<mesh file="wam_base_collision.STL"/>
<mesh file="finger0_0_collision.STL"/>
<mesh file="finger0_0.STL"/>
<mesh file="finger0_1_collision.STL"/>
<mesh file="finger0_1.STL"/>
<mesh file="finger0_2_collision.STL"/>
<mesh file="finger0_2.STL"/>
<mesh file="finger1_0_collision.STL"/>
<mesh file="finger1_0.STL"/>
<mesh file="finger1_1_collision.STL"/>
<mesh file="finger1_1.STL"/>
<mesh file="finger1_2_collision.STL"/>
<mesh file="finger1_2.STL"/>
<mesh file="finger2_1_collision.STL"/>
<mesh file="finger2_1.STL"/>
<mesh file="finger2_2_collision.STL"/>
<mesh file="finger2_2.STL"/>
<mesh file="hand_base_collision.STL"/>
<mesh file="hand_base.STL"/>
</asset>
<compiler angle="radian" inertiafromgeom="true"/>
<default>
<joint armature="0" damping="0" limited="true"/>
<geom contype="0" friction="1.0 1.0 1.0" rgba="0.7 0.7 0 1" solimp=".5 .5 .001" solref=".02 1" condim="1"/>
</default>
<option integrator="RK4" timestep="0.001" gravity="0 0 -10"/>
<sensor>
<force name="grip_force_sensor" site="robot0:grip"></force>
<torque name="grip_torque_sensor" site="robot0:grip"></torque>
</sensor>
<worldbody>
<body mocap="true" name="robot0:mocap" pos="0 0 0">
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box"></geom>
<!-- <geom conaffinity="0" contype="0" pos="0 0 0" rgba="1 0 0 0.1" size="1 0.005 0.005" type="box"></geom>
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 1 0 0.1" size="0.005 1 0.001" type="box"></geom>
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0 1 0.1" size="0.005 0.005 1" type="box"></geom> -->
</body>
<!-- WAM Arm-->
<body name='pusher' pos="-1. 0. 0.4" euler="0. 0. 0.">
<body name='wam_base' pos="0. 0. 0." euler="0. 1.5708 3.14159">
<inertial pos="0.21556578 0.26189039 0.34533511"
fullinertia="0.10916849 0.18294303 0.11760385 0.00640270 0.02557874 0.0016143"
mass="9.97059584"/>
<geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam_base" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="wam_base_collision" contype="1" conaffinity="1" mass=".001"/>
<body name='wam_1' pos="0.22 0.14 0.346" > <!--euler="0. 0 1.570796 ">-->
<inertial pos="-0.004434 -0.000665 -0.121890" quat=" 0.70710678 -0.70710678 0. 0." mass="10.76768767" fullinertia="0.13488033 0.11328369 0.09046330 -0.00213041 -0.00012485 0.00068555" />
<joint name="wam/j1" type="hinge" pos="0. 0 0" axis="0 0 1" range="0.54159265359 5.74159265359" damping="0."/>
<geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam1" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="wam1_collision" contype="1" conaffinity="1" mass="0.0"/>
<body name='wam_2' pos="0. 0. 0." euler="-1.5708 0 0">
<inertial pos="-0.002370 -0.015421 0.031056" mass="3.87493756" fullinertia="0.02140958 0.01377875 0.01558906 0.00027172 0.00002461 -0.00181920" />
<joint name="wam/j2" type="hinge" pos="0 0 0" axis="0 0 1" range="-2 2" damping="0." />
<geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam2" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="wam2_collision" contype="1" conaffinity="1" mass="0.001"/>
<body name='wam_3' pos="0. 0. 0." euler="1.5708 0 0">
<inertial pos="0.006741 0.000033 0.342492" mass="1.80228141" fullinertia="0.05911077 0.00324550 0.05927043 -0.00249612 0.00000738 -0.00001767" />
<joint name="wam/j3" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.8 2.8" damping="0."/>
<geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam3" contype="0" conaffinity="0" mass="0.001"/>
<!-- <geom rgba="0 0 0.5 0" type="mesh" mesh="wam3_collision" contype="1" conaffinity="1" mass="0.001"/> -->
<body name='wam_4' pos="0.045 0 0.55" euler="-1.5708 0 0">
<inertial pos="-0.040015 -0.132717 -0.000229" mass="2.40016804" fullinertia="0.01491672 0.01482922 0.00294463 0.00001741 -0.00150604 -0.00002109" />
<joint name="wam/j4" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.9 3.1" damping="0."/>
<!-- <geom rgba="0.792 0.820 0.933 1"
type="mesh" mesh="wam4" contype="0" conaffinity="0" mass="0.001"/> -->
<geom rgba="1 0 1 1" type="mesh" mesh="wam4" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="wam4_collision" contype="1" conaffinity="1" mass="0.001"/>
<body name='wam_5' pos="-0.045 0 0" euler="1.57079633 0 0">
<inertial pos="0.000089 0.004358 0.294888" mass="0.12376019" fullinertia="0.00005029 0.00007582 0.00006270 0.00000020 -0.00000005 -0.00000359" />
<joint name="wam/j5" type="hinge" pos="0 0 0" axis="0 0 1" range="-4.76 1.24" damping="0."/>
<!-- <geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam5" contype="0" conaffinity="0" mass="0.001"/> -->
<geom rgba="0 0 1 1" type="mesh" mesh="wam5" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="0 1 0.5 0" type="mesh" mesh="wam5_collision" contype="1" conaffinity="1" mass="0.001"/>
<body name='wam_6' pos="0 0 0.3" euler="-1.5708 0 0">
<joint name="wam/j6" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" damping="0."/>
<inertial pos="-0.000123 -0.024683 -0.017032" mass="0.41797364" fullinertia="0.00055516 0.00024367 0.00045358 0.00000061 -0.00000074 -0.00004590" />
<!-- <geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam6" contype="0" conaffinity="0" mass="0.001"/> -->
<geom rgba="0 1 0 1" type="mesh" mesh="wam6" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="1 0 1 0" type="mesh" mesh="wam6_collision" contype="1" conaffinity="1" mass="0.001"/>
<body name='wam_7' pos="0 0 0" euler="1.570796 0 0">
<inertial pos="-0.000080 0.000163 0.056764" mass="0.06864753"
fullinertia="0.00003773 0.00003806 0.00007408 -0.00000019 0.00000000 0.00000000" />
<joint name="wam/j7" type="hinge" pos="0 0 0" axis="0 0 1" range="-3.0 3.0" damping="0."/>
<!-- <geom rgba="0.792 0.820 0.933 1" type="mesh" mesh="wam7" contype="0" conaffinity="0" mass="0.001"/> -->
<geom rgba="0 1 1 1" type="mesh" mesh="wam7" contype="0" conaffinity="0" mass="0.001"/>
<geom rgba="0 0 1 0" type="mesh" mesh="wam7_collision" contype="1" conaffinity="1" mass="0.001"/>
<!-- Barrett Hand -->
<body name='barrett_hand' pos="0. 0. 0.072" euler="0. 0. 1.5708">
<inertial pos="5.0019e-005 -0.0044561 0.037268" mass="0.60858" fullinertia="0.0006986 0.00050354 0.00062253 2.7577e-007 -7.8138e-007 -6.44e-005"/>
<geom rgba="1 0 0 1" type="mesh" mesh="hand_base" contype="0" conaffinity="0"/>
<geom rgba="0 1 1 0" type="mesh" mesh="hand_base_collision" contype="1" conaffinity="1"/>
<!-- <body name='finger0_0' pos="-0.025 0 0.0754" euler="0.0 0.0 -1.0"> -->
<body name='finger0_0' pos="-0.025 0 0.0754" euler="0.0 0.0 -1.5707">
<inertial pos="0.030616 -7.3219e-005 -0.011201" mass="0.14109" fullinertia="2.0672e-005 7.4105e-005 6.8207e-005 2.6024e-007 6.3481e-006 1.7118e-008"/>
<geom rgba="1 0 0 1" type="mesh" mesh="finger0_0" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger0_0_collision" contype="1" conaffinity="1"/>
<!-- <body name='finger0_1' pos="0.05 0.0008 0" euler="1.5707 0 0.7"> -->
<body name='finger0_1' pos="0.05 0.0008 0" euler="1.5707 0 1.2">
<inertial pos="0.023133 0.00078642 0.00052792" mass="0.062139" fullinertia="4.8162e-006 4.3317e-005 4.4441e-005 5.7981e-007 -7.2483e-007 -2.6653e-009"/>
<geom rgba="1 0 0 1" type="mesh" mesh="finger0_1" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger0_1_collision" contype="1" conaffinity="1"/>
<body name='finger0_2' pos="0.07 0.003 0.0002" euler="0.0 0.0 0.8">
<inertial pos="0.02295 0.0010739 0.00041752" mass="0.04166" fullinertia="3.1199e-006 1.6948e-005 1.5809e-005 4.5115e-007 -2.9813e-007 -1.8635e-008"/>
<geom rgba="1 0 0 1" type="mesh" mesh="finger0_2" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger0_2_collision" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<body name='finger1_0' pos="0.025 0 0.0754" euler="0.0 0.0 -1.5707">
<inertial pos="0.030616 -7.3219e-005 -0.011201" mass="0.14109" fullinertia="2.0672e-005 7.4105e-005 6.8207e-005 2.6024e-007 6.3481e-006 1.7118e-008"/>
<geom rgba="1 0 0 1" type="mesh" mesh="finger1_0" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger1_0_collision" contype="1" conaffinity="1"/>
<body name='finger1_1' pos="0.05 0.0008 -0.0003" euler="1.5707 0 1.2">
<inertial pos="0.023133 0.00078642 0.00052792" mass="0.062139" fullinertia="4.8162e-006 4.3317e-005 4.4441e-005 5.7981e-007 -7.2483e-007 -2.6653e-009"/>
<geom rgba="1 0 0 1" type="mesh" mesh="finger1_1" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger1_1_collision" contype="1" conaffinity="1"/>
<body name='finger1_2' pos="0.07 0.003 0.0002" euler="0.0 0.0 0.8">
<geom rgba="1 0 0 1" type="mesh" mesh="finger1_2" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger1_2_collision" contype="1" conaffinity="1"/>
</body>
</body>
</body>
<!-- <body name='finger2_1' pos="-0.0008 0.05 0.0754" euler="0.0 1.5707 2.2707"> -->
<body name='finger2_1' pos="-0.0008 0.05 0.0754" euler="0.0 1.5707 2.807">
<inertial pos="0.023133 0.00078642 0.00052792" mass="0.062139" fullinertia="4.8162e-006 4.3317e-005 4.4441e-005 5.7981e-007 -7.2483e-007 -2.6653e-009"/>
<geom rgba="1 0 0 1" type="mesh" mesh="finger2_1" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger2_1_collision" contype="1" conaffinity="1"/>
<body name='finger2_2' pos="0.07 0.003 0.0002" euler="0.0 0.0 0.8">
<geom rgba="1 0 0 1" type="mesh" mesh="finger2_2" contype="0" conaffinity="0"/>
<geom rgba="0 0 0.5 0" type="mesh" mesh="finger2_2_collision" contype="1" conaffinity="1"/>
</body>
</body>
<site name="robot0:grip" pos="0.0 0.0 0.15" euler="0 0 0." rgba="1 0 0 1" size="0.02 0.02 0.02" type="box"></site>
<body name='robot0:grip' pos="0.0 0.0 0.15" euler="0 0 0" />
<body name="object0" pos="0 0 0.15" euler="0 1.57 0">
<geom rgba="0 1 0 1" type="cylinder" size="0.08 0.02 0.03" pos="0 0 0.09" contype="1" conaffinity="1" mass="0.0001" condim="1" name="object0-bottom"/>
<geom rgba="0 1 1 1" type="cylinder" size="0.08 0.02 0.03" pos="0 0 -0.09" contype="1" conaffinity="1" mass="0.0001" condim="1" name="object0-top"/>
<geom rgba="0 1 0 1" type="cylinder" size="0.05 0.10 0.04" contype="1" conaffinity="1" mass="1" condim="1" name="object0"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<camera euler="0 0 0" fovy="50" name="top_cam" pos="0 0 2.0"></camera>
</worldbody>
<equality>
<weld body1="robot0:mocap" body2="robot0:grip" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
</equality>
<actuator>
</actuator>
</mujoco>
| 82.445596 | 209 | 0.459904 |
7018a4cf13d17f37aaa288ed83d493caa1a36230 | 1,458 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9900_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9900_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9900_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/990/990.stl" name="obj0" scale="0.0075761579642900515 0.0075761579642900515 0.0075761579642900515" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03453306365674265 0.05477177339357121 0.22543639730557247">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.368421 | 155 | 0.619342 |
7018a9e98a2ac12a30c36d858aab9234c46d08ac | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9789_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9789_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9789_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/978/978.stl" name="obj0" scale="0.005817449031147495 0.005817449031147495 0.005817449031147495" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.016452190894936 0.04 0.01689306045231248" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.003525366097190307 0.001646074571202339 0.027514581976614334" size="0.010663396312832567 0.013200528814533066 0.043824706506549106" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="1.8680226709256764e-06 0.000999567148405275 0.00014206636500122818" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.003525366097190307 0.001646074571202339 0.017514581976614332" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.314815 | 223 | 0.657343 |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.