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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
60280e595c2decefb43825c1714cf504d1ec4835 | 1,316 | xml | XML | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=085.xml | leonmkim/gym-kuka-mujoco | ed45ae74d10e69f4e51439de2d1d0c0811623b6b | [
"MIT"
] | 23 | 2019-03-12T21:19:12.000Z | 2022-03-08T15:03:40.000Z | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=085.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 16 | 2019-04-21T17:50:13.000Z | 2022-03-11T23:40:29.000Z | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_moving_hole_id=085.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 14 | 2019-05-21T08:56:43.000Z | 2021-12-31T04:23:29.000Z | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-006903_outer=0-10_height=0-05_num_facets=16_id=085.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
| 27.416667 | 107 | 0.597264 |
6028bb33baa0f112ad5a3525bfcf72328f140525 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9784_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9784_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9784_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="0.00028663903109608777 0.0011358074509720622 0.03588711988914234" size="0.010636754079714908 0.016313081681434187 0.05219724441907711" 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="0.00028663903109608777 0.0011358074509720622 0.025887119889142336" 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 | 223 | 0.65833 |
6028d8ce3aa507c67e1ac1ea8d548ee49ac285f5 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8529_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8529_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8529_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/852/852.stl" name="obj0" scale="0.007372374106549036 0.007372374106549036 0.007372374106549036" />
</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="0.0316782400266319 0.06042719990476046 0.22869689248600106">
<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 |
602b3d96dbd88a5b1e6c3da20d673bd717102c59 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8160_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8160_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8160_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/816/816.stl" name="obj0" scale="0.005112141356554526 0.005112141356554526 0.005112141356554526" />
</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="0.03187314314485666 0.035213477652925665 0.2227622592584984">
<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 |
602f9999948f9cd1a37b3f501dc3b8409b888e54 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3453_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3453_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3453_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/345/345.stl" name="obj0" scale="0.007064474277719319 0.007064474277719319 0.007064474277719319" />
</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="0.004736599310436665 0.04 0.014877959440733828" 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="-0.0013264156746999347 -0.009165677720604361 0.03654460725991454" size="0.01327759910958141 0.013522241470299158 0.041517030861009316" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="2.545271496047e-05 -0.008155084224304646 -0.0002358242906581115" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0013264156746999347 -0.009165677720604361 0.02654460725991454" 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 | 223 | 0.656124 |
60302be2332e4b195daeefa00052afcb6eab9fef | 2,725 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3356_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3356_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3356_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/335/335.stl" name="obj0" scale="0.005816563332995488 0.005816563332995488 0.005816563332995488" />
</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="0.010033516492065554 0.04 0.014304601497794143" 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="0.0010538994119905331 -0.0008789443506163572 0.03403172721995185" size="0.011021946667382775 0.013778211237804885 0.044234238266306035" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="1.3414175775245475e-05 -0.0010252400561470535 -0.0001689945542886297" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0010538994119905331 -0.0008789443506163572 0.02403172721995185" 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> | 50.462963 | 224 | 0.657615 |
6030fafe31eef2b940f43ce27f3d4d15aa060049 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3029_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3029_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3029_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/302/302.stl" name="obj0" scale="0.007025882206977679 0.007025882206977679 0.007025882206977679" />
</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="0.03415389890691947 0.039454547634444954 0.23262108326346978">
<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 |
603129da268cf85efcfc22bf748bd08a46b935ac | 81,313 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_lamp_1_0_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_lamp_1_0_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_lamp_1_0_0.6_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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_1/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.451560114027867 1.451560114027867 1.451560114027867"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.7840358141327815 1.7840358141327815 1.7840358141327815"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.6586619426981501 1.6586619426981501 1.6586619426981501"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.0968884088579458 1.0968884088579458 1.0968884088579458"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="0.9144626788331578 0.9144626788331578 0.9144626788331578"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="0.6049765146348851 0.6049765146348851 0.6049765146348851"/></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 1.428964512932576" name="gen_body_0" pos="0 0 0.5187523543834687"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.20260695362889047 0.20709310406097314 0.15263774330024593 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 6.217342143936315" name="gen_body_gadded_1" pos="0.1624753533972722 0.0 0.3003111860614752"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6581144742824764 0.21702149005161853 0.2794753225827662 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.0583574011147" name="gen_body_gadded_2" pos="0.1131125805707162 0.14757882281962345 0.29983449152198816"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6640819640344284 0.5892178248004094 0.42164722079002415 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.150152220318916" name="gen_body_gadded_3" pos="-0.18627878692234626 0.44247165603751687 0.31465417992726424"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.2503516370151786 0.8424188822538574 0.7998294426755927 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.587898624185296" name="gen_body_gadded_4" pos="0.3159584832487324 -0.22109110142888624 0.3001050499527391"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.05722548990832932 0.3068361509911611 0.1785092373709669 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 3.2565625913033722" name="gen_body_gadded_5" pos="0.2171839058881369 -0.17417863765144628 0.3001284195499646"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.28752903024863286 0.6796178166935798 0.8568675884109231 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 2.0621744969304077" name="gen_body_gadded_6" pos="-0.35689309689166504 -0.027102222145894903 0.30001578307996385"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.6460499462291498 0.29958135215568815 0.8480424880492021 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="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> | 118.878655 | 2,285 | 0.68882 |
603173a5ad3bbbd1a6200c72893f371a5d9e0dbc | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2935_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2935_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2935_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/293/293.stl" name="obj0" scale="0.008210342645899666 0.008210342645899666 0.008210342645899666" />
</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="0.026346345038794322 0.04879646786980564 0.0180146781596162">
<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="-0.00042958795024390986 -0.0025643545712884055 0.0006566650534172706" rgba="1 0 0 0" size="0.013173172519397161 0.02439823393490282 0.0090073390798081" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 200 | 0.670435 |
60323f3ce295d01db9fc241c17821006ba39059c | 2,713 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2348_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2348_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2348_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/234/234.stl" name="obj0" scale="0.005841057949939067 0.005841057949939067 0.005841057949939067" />
</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="0.030239221258472 0.04 0.03066054260945905" 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="0.004276384459815008 -0.011358131677877211 0.019385586729042985" size="0.01065475340035932 0.02648603985353789 0.04309458785566835" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-9.214466615580506e-05 -0.010563670017737845 0.006530220131846635" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.004276384459815008 -0.011358131677877211 0.009385586729042984" 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> | 50.240741 | 220 | 0.6561 |
603252d606a9f39fb4be4f65d4edd310a82e5c3f | 2,724 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1637_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1637_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1637_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/163/163.stl" name="obj0" scale="0.0066489339597958904 0.0066489339597958904 0.0066489339597958904" />
</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="0.018837041610026056 0.04 0.01929634996796876" 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="-0.0021393964419684454 0.002419515453331305 0.032577984427047166" size="0.016396789821733797 0.018857346721847516 0.05105819521505895" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00036657456652898165 0.002563002069309771 0.0003568308220142716" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0021393964419684454 0.002419515453331305 0.022577984427047164" 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 | 223 | 0.658223 |
603417895272ec3ed8fb8613f0888697d2b71266 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5436_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5436_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5436_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/543/543.stl" name="obj0" scale="0.013438909462087145 0.013438909462087145 0.013438909462087145" />
</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="0.03418247096774445 0.09036227306050215 0.03511625343335338">
<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="-0.0011313740135826381 -0.013947743989748776 0.0015680254218624356" rgba="1 0 0 0" size="0.017091235483872223 0.045181136530251076 0.01755812671667669" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 200 | 0.670435 |
6036b7628d49d228bb40c2451f3fad3141440e3a | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8003_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8003_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8003_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/800/800.stl" name="obj0" scale="0.0038857581873208125 0.0038857581873208125 0.0038857581873208125" />
</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="0.013149370734069944 0.02253935785146622 0.021597663783559956">
<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="0.0038451182237424107 -0.006167651074385847 0.010222185576986674" rgba="1 0 0 0" size="0.006574685367034972 0.01126967892573311 0.010798831891779978" 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 | 198 | 0.671558 |
6036db414c568743b61b3e9602307afef37b9052 | 2,712 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7234_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7234_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7234_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/723/723.stl" name="obj0" scale="0.00648774651206583 0.00648774651206583 0.00648774651206583" />
</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="0.033082063992212106 0.04 0.038679289442538754" 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="0.010870561138729466 -0.01432128391759942 -0.005862774610122454" size="0.030063897555561526 0.013363541138641194 0.0507832071444916" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.007621219804252341 -0.01927726284228166 -0.02356391776240195" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.010870561138729466 -0.01432128391759942 -0.015862774610122456" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.222222 | 221 | 0.655605 |
60384bd4fb3e27e825b06e147d913f24532d310e | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6473_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6473_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6473_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/647/647.stl" name="obj0" scale="0.005210440237260002 0.005210440237260002 0.005210440237260002" />
</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="0.02280151694151848 0.04 0.029687134556818515" 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="-0.01041490784331713 -0.02592868274545988 0.011861997220791624" size="0.021899128238105088 0.013246586976338483 0.04034592999437958" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.003605360087561086 -0.012412261452646046 -0.0056824158320694824" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.01041490784331713 -0.02592868274545988 0.0018619972207916217" 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 | 0.655997 |
603a01ffbdedcde1b8294dfd59c64ec8a0e1b152 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7847_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7847_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7847_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/784/784.stl" name="obj0" scale="0.008137135348673318 0.008137135348673318 0.008137135348673318" />
</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="0.022010202501709247 0.060851324924264844 0.21499398195872174">
<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 |
603a0ab1f9e15a2eeea854a81e8fed5375cfbef5 | 3,555 | xml | XML | dataset/walker2d_v6_test_malicious_info/bodies/76.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | dataset/walker2d_v6_test_malicious_info/bodies/76.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | dataset/walker2d_v6_test_malicious_info/bodies/76.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | <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>
<!-- CHANGES: see hopper.xml -->
<body name="torso">
<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 1.3746 0 0 0.9688" name="torso_geom" size="0.0735" type="capsule" />
<body name="thigh">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 0.9688" range="-150 0" type="hinge" />
<geom fromto="0 0 0.9688 0 0 0.5782" name="thigh_geom" size="0.0316" type="capsule" />
<body name="leg">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.5782" range="-150 0" type="hinge" />
<geom fromto="0 0 0.5782 0 0 0.1" name="leg_geom" size="0.0238" type="capsule" />
<body name="foot">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge" />
<geom fromto="-0.0 0 0.1 0.1674 0 0.1" name="foot_geom" size="0.0506" type="capsule" />
</body>
</body>
</body>
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
<body name="thigh_left">
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0.9688" range="-150 0" type="hinge" />
<geom fromto="0 0 0.9688 0 0 0.5782" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.0316" type="capsule" />
<body name="leg_left">
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.5782" range="-150 0" type="hinge" />
<geom fromto="0 0 0.5782 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.0238" type="capsule" />
<body name="foot_left">
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge" />
<geom fromto="-0.0 0 0.1 0.1674 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.0506" type="capsule" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
<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" />
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
</actuator>
</mujoco>
| 65.833333 | 140 | 0.539522 |
603b0ca7e20e34e33575ce0de2b0e5cfffb4bdee | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9984_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9984_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9984_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/998/998.stl" name="obj0" scale="0.009083027790985111 0.009083027790985111 0.009083027790985111" />
</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="0.03159427216425964 0.059538870224254074 0.23048957615826446">
<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 |
603e193411ac33d1a8632451ad3d029d3239c41d | 80,295 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_cup_2_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cup_2_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_cup_2_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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_2/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.9505756016559189 0.9505756016559189 0.9505756016559189"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.5732728360799888 1.5732728360799888 1.5732728360799888"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.6250196188419963 1.6250196188419963 1.6250196188419963"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.8967299385042896 0.8967299385042896 0.8967299385042896"/></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 1.4265320913228055" name="gen_body_0" pos="0 0 0.49873976707458495"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9406736056841625 0.3512082175211362 0.3844402693389466 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 6.1848642198272366" name="gen_body_gadded_1" pos="0.15295645703820027 0.0 0.29991181307789627"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.3780242796914559 0.06266425109743601 0.5658012377406454 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.3175995527645246" name="gen_body_gadded_2" pos="0.4525618116503761 0.2216029668593485 0.31389977193621377"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6161942526128577 0.9238576341634847 0.9480348319698639 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.7862870427322408" name="gen_body_gadded_3" pos="0.12650812361136168 0.5688132294242503 0.30193753289915076"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.2665616636524313 0.4366513870705837 0.7434266602030906 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 6.0188951807838" name="gen_body_gadded_4" pos="-0.14383650928575825 0.1481427944435335 0.3001103381938023"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9589870442053936 0.6159104689126824 0.7938639585422445 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> | 117.390351 | 1,608 | 0.68739 |
603e2d98e81375c46f3a2a70b4831665101f010b | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8567_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8567_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8567_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/856/856.stl" name="obj0" scale="0.0054555275102080945 0.0054555275102080945 0.0054555275102080945" />
</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="0.03166165035849611 0.04180216940113426 0.2236598099381735">
<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 |
603f3831bc5d4e7c2a14f75ae719f54e6aab33e1 | 2,723 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7217_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7217_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7217_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/721/721.stl" name="obj0" scale="0.006336708950997438 0.006336708950997438 0.006336708950997438" />
</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="0.014101366748911869 0.04 0.01736201222192739" 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="-0.0005373550201274435 -0.00797644579218396 0.027389032402552804" size="0.016965348984766628 0.010286058091639745 0.042141495232544325" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.000259181270754956 -0.0021200982088795057 -0.0006510960810796509" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0005373550201274435 -0.00797644579218396 0.017389032402552802" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.425926 | 224 | 0.656629 |
603f67589451832d3e4de3e3be3d988f1352158e | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5308_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5308_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5308_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/530/530.stl" name="obj0" scale="0.007602262845369011 0.007602262845369011 0.007602262845369011" />
</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="0.03752242410665364 0.051603924524216645 0.2237742677103344">
<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 |
60448b6a947cb5fce8747ba602fccdbe1764a9a0 | 76,253 | xml | XML | herb_reconf/cluttered_scenes/grasping_lamp_1_0_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_lamp_1_0_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_lamp_1_0_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/lamp_1/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/024_bowl/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.6660941948303756 0.6660941948303756 0.6660941948303756"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.9349531825472817 0.9349531825472817 0.9349531825472817"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.5697194810992888" name="gen_body_0" pos="0 0 0.5187523543834687"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6393550545226764 0.7903089659024125 0.5304739279834377 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.2009659214878079" name="gen_body_gadded_1" pos="-0.11499454969565234 0.0 0.29881523534281806"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.13952835966366228 0.41936291772734213 0.8512410871757072 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.230548395260547" name="gen_body_gadded_2" pos="0.09732388564700907 0.29114801822497555 0.30011504137647166"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5454452534639629 0.3537448475359657 0.3184732356376643 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> | 119.706436 | 943 | 0.683081 |
6045e35a51224d690893c10cdc11ab934fb68866 | 7,785 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_002.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_002.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_002.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
</option>
<size nkey="5" nuser_geom="1" />
<visual>
<map fogend="5" fogstart="3" />
</visual>
<worldbody>
<body name="torso" pos="0.0 0.0 1.3457534167041403">
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" />
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" />
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" />
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" />
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
<geom fromto="-0.02 -0.09100087558511825 0.0 -0.02 0.09100087558511825 0.0" name="butt" size="0.09" type="capsule" />
<body name="right_thigh" pos="0.0 -0.1300012508358832 -0.04">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.011789306192298087 -0.40083641053813496" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.011789306192298087 -0.47510903954961287">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.34909625143635176" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.5236443771545277">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" />
</body>
</body>
</body>
<body name="left_thigh" pos="0.0 0.1300012508358832 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 -0.011789306192298087 -0.40083641053813496" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.011789306192298087 -0.47510903954961287">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.34909625143635176" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.5236443771545277">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" />
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" />
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" />
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" />
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" />
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" />
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y" />
<joint coef="1" joint="left_knee" />
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y" />
<joint coef="1" joint="right_knee" />
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y" />
<motor gear="100" joint="abdomen_z" name="abdomen_z" />
<motor gear="100" joint="abdomen_x" name="abdomen_x" />
<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
<motor gear="100" joint="left_hip_x" name="left_hip_x" />
<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
</actuator>
</mujoco> | 72.757009 | 149 | 0.533976 |
6047fda15681e74dcaaa6054db430513b2298086 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8833_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8833_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8833_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/883/883.stl" name="obj0" scale="0.005177609049076864 0.005177609049076864 0.005177609049076864" />
</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="0.013511957148089926 0.035265539183537524 0.2305277524903526">
<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 |
60482d4a336e793bf23c902f3ba439100ba02b61 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5318_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5318_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5318_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="0.005252578446858556 0.005252578446858556 0.005252578446858556" />
</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="0.019753187924855333 0.032104014217254166 0.02778693574951646">
<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="-0.0029661082229451145 0.0018005711891945664 -0.0037364462243395695" rgba="1 0 0 0" size="0.009876593962427667 0.016052007108627083 0.01389346787475823" 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 |
6048b1480c21ec80d97ea726e69caae6887b427b | 2,715 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4209_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4209_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4209_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/420/420.stl" name="obj0" scale="0.004394473422334603 0.004394473422334603 0.004394473422334603" />
</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="0.02796151583845125 0.04 0.01927202911074974" 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="0.0055745145365499555 0.005955946462725622 0.04095411651034686" size="0.014071484856256294 0.021824124002937074 0.05994424590308369" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0014119952453149436 0.010415539552235219 0.00028189971801290863" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0055745145365499555 0.005955946462725622 0.03095411651034686" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.277778 | 221 | 0.658195 |
604bed2c41e1afbdd7d5be0d9313cb7c01643dda | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8710_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8710_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8710_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/871/871.stl" name="obj0" scale="0.005082811532427802 0.005082811532427802 0.005082811532427802" />
</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="0.01599993336516439 0.040023191473308246 0.23090755528357546">
<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 |
604c38a72a05c868484d8817d5289caf15687635 | 5,611 | xml | XML | mbmf/envs/assets/half_cheetah.xml | BerenMillidge/state-augmentation | b3834b3a99be9854ecf83b6d83e9fbb2184f4861 | [
"MIT"
] | 20 | 2020-04-16T18:13:39.000Z | 2022-02-25T01:20:39.000Z | mbmf/envs/assets/half_cheetah.xml | BerenMillidge/state-augmentation | b3834b3a99be9854ecf83b6d83e9fbb2184f4861 | [
"MIT"
] | null | null | null | mbmf/envs/assets/half_cheetah.xml | BerenMillidge/state-augmentation | b3834b3a99be9854ecf83b6d83e9fbb2184f4861 | [
"MIT"
] | 8 | 2020-04-23T05:39:46.000Z | 2021-08-29T20:21:44.000Z | <!-- Cheetah Model
The state space is populated with joints in the order that they are
defined in this file. The actuators also operate on joints.
State-Space (name/joint/parameter):
- rootx slider position (m)
- rootz slider position (m)
- rooty hinge angle (rad)
- bthigh hinge angle (rad)
- bshin hinge angle (rad)
- bfoot hinge angle (rad)
- fthigh hinge angle (rad)
- fshin hinge angle (rad)
- ffoot hinge angle (rad)
- rootx slider velocity (m/s)
- rootz slider velocity (m/s)
- rooty hinge angular velocity (rad/s)
- bthigh hinge angular velocity (rad/s)
- bshin hinge angular velocity (rad/s)
- bfoot hinge angular velocity (rad/s)
- fthigh hinge angular velocity (rad/s)
- fshin hinge angular velocity (rad/s)
- ffoot hinge angular velocity (rad/s)
Actuators (name/actuator/parameter):
- bthigh hinge torque (N m)
- bshin hinge torque (N m)
- bfoot hinge torque (N m)
- fthigh hinge torque (N m)
- fshin hinge torque (N m)
- ffoot hinge torque (N m)
-->
<mujoco model="cheetah">
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
<default>
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
<geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
</default>
<size nstack="300000" nuser_geom="1"/>
<option gravity="0 0 -9.81" timestep="0.01"/>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 .7">
<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
<!-- <site name='tip' pos='.15 0 .11'/>-->
<body name="bthigh" pos="-.5 0 0">
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
<body name="bshin" pos=".16 0 -.25">
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
<body name="bfoot" pos="-.28 0 -.14">
<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> | 60.98913 | 163 | 0.55712 |
604fe46bc9f3bc9cde2bbbcb282241771f480e48 | 4,806 | xml | XML | metagym/metalocomotion/envs/assets/ants/ant_var_tst_056.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/ants/ant_var_tst_056.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/ants/ant_var_tst_056.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true" />
<option integrator="RK4" timestep="0.01" />
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos" />
</custom>
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1" />
</default>
<worldbody>
<body name="torso" pos="0 0 0.75">
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere" />
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.27628482497229107 0.27628482497229107 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body name="aux_1" pos="0.27628482497229107 0.27628482497229107 0.0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.17710068802329101 0.17710068802329101 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body pos="0.17710068802329101 0.17710068802329101 0.0" name="front_left_foot">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.3691776490843516 0.3691776490843516 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
</body>
</body>
</body>
<body name="front_right_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.21544728864404386 0.21544728864404386 0.0" name="aux_2_geom" size="0.08" type="capsule" />
<body name="aux_2" pos="-0.21544728864404386 0.21544728864404386 0.0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.17749904600364325 0.17749904600364325 0.0" name="right_leg_geom" size="0.08" type="capsule" />
<body pos="-0.17749904600364325 0.17749904600364325 0.0" name="front_right_foot">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.40281838344919285 0.40281838344919285 0.0" name="right_ankle_geom" size="0.08" type="capsule" />
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2705322787807995 -0.2705322787807995 0.0" name="aux_3_geom" size="0.08" type="capsule" />
<body name="aux_3" pos="-0.2705322787807995 -0.2705322787807995 0.0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.20537893992925157 -0.20537893992925157 0.0" name="back_leg_geom" size="0.08" type="capsule" />
<body pos="-0.20537893992925157 -0.20537893992925157 0.0" name="left_back_foot">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge" />
<geom fromto="0.0 0.0 0.0 -0.49323214758801354 -0.49323214758801354 0.0" name="third_ankle_geom" size="0.08" type="capsule" />
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.22499208898458864 -0.22499208898458864 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body name="aux_4" pos="0.22499208898458864 -0.22499208898458864 0.0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.2121529527114996 -0.2121529527114996 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
<body pos="0.2121529527114996 -0.2121529527114996 0.0" name="right_back_foot">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.5131369687651565 -0.5131369687651565 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150" />
</actuator>
</mujoco> | 67.690141 | 154 | 0.609447 |
6051888fc00419c877331655d36edc9ac7d1060e | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6203_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6203_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6203_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/620/620.stl" name="obj0" scale="0.004073227994971614 0.004073227994971614 0.004073227994971614" />
</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="0.025343844539025114 0.03052650782605713 0.21702787505622917">
<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 |
605189df812855418d97f899401238fbcc9e35a4 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5510_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5510_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5510_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/551/551.stl" name="obj0" scale="0.006890926834932234 0.006890926834932234 0.006890926834932234" />
</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="0.033196791953919974 0.09140835808410797 0.0311526708630691">
<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="0.0007928912053708615 -0.017087016789330178 0.002589905482280875" rgba="1 0 0 0" size="0.016598395976959987 0.04570417904205398 0.01557633543153455" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.073171 | 197 | 0.670442 |
60527879363741b5de45dd2c59ad87b16cebc22d | 90,223 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_potted_plant_3_1_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_potted_plant_3_1_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_potted_plant_3_1_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/potted_plant_3/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/maytoni/scene.stl" name="gen_mesh_gadded_1" scale="1.6986072275253803 1.6986072275253803 1.6986072275253803"/><mesh class="geom0" file="downloaded_assets/lamp_2/scene.stl" name="gen_mesh_gadded_2" scale="1.7218850808762713 1.7218850808762713 1.7218850808762713"/></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 0.9271381257168888" name="gen_body_0" pos="-0.05 -0.35 0.41421426385641097"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6381668177997355 0.8371992667614097 0.4303795115922723 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.8016996614139159" name="gen_body_gadded_1" pos="0.1367241371807939 -0.28964780137574286 0.7620593227570573"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.06936771589404711 0.6963791533512503 0.11198043521401546 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.218541769549473" name="gen_body_gadded_2" pos="0.8851762330250522 -0.5737559988724114 0.5013835046298311"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6753963007832812 0.05413957804724834 0.0474150354709616 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 131.904971 | 10,958 | 0.688372 |
6052c31cc9fa9f9ab33b93ba50939670f61e4ac0 | 1,834 | xml | XML | metaworld/envs/assets_v2/sawyer_xyz/sawyer_faucet.xml | moojink/metaworld | 60c7d9c3876b68f719949a25e600aae3dcf66ede | [
"MIT"
] | null | null | null | metaworld/envs/assets_v2/sawyer_xyz/sawyer_faucet.xml | moojink/metaworld | 60c7d9c3876b68f719949a25e600aae3dcf66ede | [
"MIT"
] | null | null | null | metaworld/envs/assets_v2/sawyer_xyz/sawyer_faucet.xml | moojink/metaworld | 60c7d9c3876b68f719949a25e600aae3dcf66ede | [
"MIT"
] | null | null | null | <mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/faucet_dependencies.xml"/>
<include file="../objects/assets/xyz_base_dependencies.xml"/>
<worldbody>
<include file="../objects/assets/xyz_base.xml"/>
<body name="faucetBase" pos="0 0.8 0">
<include file="../objects/assets/faucet.xml"/>
</body>
<site name="goal_open" pos="0.175 0.785 0.125" size="0.005"
rgba="0 .8 0 0"/>
<site name="goal_close" pos="-0.175 0.785 0.125" size="0.005"
rgba="0 0 0.8 0"/>
<!-- <body name="box" pos="0 0.8 0.05">
<geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_left" conaffinity="1" pos="0 0 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
<geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.1 0.05 0.05" name="box_right" conaffinity="1" pos="0 0.16 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
<geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_front" conaffinity="1" pos="0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
<geom rgba="0.3 0.3 1 1" type="box" contype="1" size="0.035 0.03 0.05" name="box_behind" conaffinity="1" pos="-0.065 0.08 0" mass="1000" solimp="0.99 0.99 0.01" solref="0.01 1"/>
<joint type="slide" range="-0.2 0." axis="0 1 0" name="goal_slidey" pos="0 0 0" damping="1.0"/>
</body>
--> </worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="400" user="1"/>
<position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400" user="1"/>
</actuator>
<equality>
<weld body1="mocap" body2="hand" solref="0.02 1"></weld>
</equality>
</mujoco>
| 50.944444 | 188 | 0.571974 |
605308e5c92bfddf473379941191fea808ae240a | 90,264 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_002_master_chef_can_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_002_master_chef_can_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_002_master_chef_can_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/lamp_2/scene.stl" name="gen_mesh_gadded_1" scale="0.8697592709055708 0.8697592709055708 0.8697592709055708"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.9238240101184585 1.9238240101184585 1.9238240101184585"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 3.870304994170691" name="gen_body_0" pos="-0.05 -0.35 0.30018699999782256"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3664304313878154 0.05034188150636243 0.46404447547781846 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.19265307482730512" name="gen_body_gadded_1" pos="0.01495789510055423 -0.20285354911872744 0.40172291360729984"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.35310600195397335 0.6851654495756002 0.11036687427480107 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.172094714642654" name="gen_body_gadded_2" pos="-0.028100869754390176 -0.45524338707413586 0.3094015894092838"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8873324374648468 0.4653407731864626 0.18283487031601153 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> | 131.964912 | 10,958 | 0.688492 |
6054269f3cdaa5f9941b4ac03801d6e9262d428b | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9244_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9244_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9244_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/924/924.stl" name="obj0" scale="0.012767897031009365 0.012767897031009365 0.012767897031009365" />
</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="0.029534801555307112 0.08282564170178948 0.23089970889976758">
<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 |
6057c20d6e4aaad3c26fbcf0ddb47fb49711d665 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9187_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9187_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9187_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/918/918.stl" name="obj0" scale="0.010642374298496701 0.010642374298496701 0.010642374298496701" />
</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="0.02946078457893639 0.067540498188622 0.029524942132394875">
<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="-0.0003272628394850615 -0.0003523969527490006 -0.0007082629750371939" rgba="1 0 0 0" size="0.014730392289468194 0.033770249094311 0.014762471066197437" 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 | 200 | 0.669683 |
6058cddef1410ed9e5adde45fbdf631d2f1ed2cb | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2200_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2200_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2200_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/220/220.stl" name="obj0" scale="0.01085132837302268 0.01085132837302268 0.01085132837302268" />
</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="0.03184125359453535 0.09944752516399245 0.23481770785928524">
<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 |
6058dd41be4f2b5cd7166eabf14f9eb9aed94733 | 80,818 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_016_pear_1_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_016_pear_1_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_016_pear_1_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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/016_pear/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.864131374604092 1.864131374604092 1.864131374604092"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.5885458539089985 0.5885458539089985 0.5885458539089985"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.6686338919941422 0.6686338919941422 0.6686338919941422"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.794422398698923 1.794422398698923 1.794422398698923"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.940665178453254 1.940665178453254 1.940665178453254"/></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 0.7910433457317606" name="gen_body_0" pos="-0.05 -0.35 0.30017899999511427"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3636552861792277 0.6911769022118287 0.21138133287225203 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.800361274918595" name="gen_body_gadded_1" pos="0.18426153672962953 -0.35 0.2998270615015075"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.7711108780333235 0.2356987421144059 0.7541042935346818 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.1968435130845" name="gen_body_gadded_2" pos="-0.032974966512475196 -0.22724362386986335 0.302876181165076"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.47051714162818425 0.2779610083616013 0.6522629320926456 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.610509338604915" name="gen_body_gadded_3" pos="0.06988018820934773 -0.601086370419855 0.3001433420523207"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8245600223197348 0.819814380704652 0.0658243707337759 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.648852845718526" name="gen_body_gadded_4" pos="0.07495348129426863 0.06758286806966268 0.3038523604883266"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9190642912155863 0.195936947098046 0.6139171515518754 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 0.8867315855121869" name="gen_body_gadded_5" pos="-0.3668243839126009 -0.6742105764517725 0.30023878930723996"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.7929567844713107 0.228208581463058 0.4057905071362471 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> | 118.154971 | 1,950 | 0.688065 |
605998c3f1326d54d580419b9c1ed81336543007 | 77,292 | xml | XML | herb_reconf/cluttered_scenes/grasping_cup_2_2_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_cup_2_2_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_cup_2_2_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="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cup_2/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.6555387235180934 1.6555387235180934 1.6555387235180934"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.6998081095667739 0.6998081095667739 0.6998081095667739"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.8560911007714003 0.8560911007714003 0.8560911007714003"/><mesh class="geom0" file="ycb_objects/010_potted_meat_can/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.3157574895871482 1.3157574895871482 1.3157574895871482"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 1.3782040306993129" name="gen_body_0" pos="0 0 0.49873976707458495"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6538026057397941 0.7840323270873446 0.9658892480249955 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.204888484098257" name="gen_body_gadded_1" pos="0.20335732834615855 0.0 0.30355419875201556"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.8871977307565757 0.36518135552521214 0.19351413447781718 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.699406604184774" name="gen_body_gadded_2" pos="0.13883136022011666 0.02319615452374434 0.30013348546756585"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.23463900328362985 0.463622834069229 0.014474004517226469 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.5512108420192643" name="gen_body_gadded_3" pos="0.31658856726861945 0.2413625591377178 0.30012022233051106"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.008242261767345438 0.058093945674001723 0.4722026808703218 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.6701911788600484" name="gen_body_gadded_4" pos="-0.23184394934164101 -0.3916712561286085 0.3065573953884827"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.27410644533432693 0.6870654622503065 0.36093244980171935 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 121.33752 | 1,621 | 0.684767 |
605ec5612994ea82c9969a07c076e64f684869fc | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2545_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2545_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2545_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/254/254.stl" name="obj0" scale="0.0044646909658178635 0.0044646909658178635 0.0044646909658178635" />
</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="0.02009878414995063 0.031198894364476034 0.019066583316181267">
<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="0.008353412898964754 -0.00676024368894669 0.0013562193685278008" rgba="1 0 0 0" size="0.010049392074975315 0.015599447182238017 0.009533291658090633" 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 | 198 | 0.671558 |
605f9d2b5b6fa95bb9ebb3c7163c4a52ae8a125a | 1,459 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4502_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4502_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4502_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/450/450.stl" name="obj0" scale="0.0034120416767926967 0.0034120416767926967 0.0034120416767926967" />
</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="0.030483745033363464 0.03098837576123607 0.21851647288968112">
<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 |
6061496b5cc9a0927e8f7ad8cbb8e5937686d42c | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8858_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8858_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8858_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/885/885.stl" name="obj0" scale="0.004951792443639008 0.004951792443639008 0.004951792443639008" />
</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="0.013601848405083362 0.04 0.0213536269341856" 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="-0.003306865775852515 -0.012586168212906413 0.03326586366373169" size="0.016024599548865086 0.018314899596270272 0.0484026519857787" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0009035543838658438 -0.015478132838631238 -0.0015349399169636508" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.003306865775852515 -0.012586168212906413 0.023265863663731685" 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 | 0.656124 |
606379fcec46cba71f63c1e83f2047d36e97e75f | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/712_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/712_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/712_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/071/071.stl" name="obj0" scale="0.00698829722276333 0.00698829722276333 0.00698829722276333" />
</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="0.013333772431342164 0.04 0.015820631375183334" 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="0.0015009627103548405 -0.009636634177687313 0.028306164926812885" size="0.012707185605699872 0.011485407682296521 0.04027358028497767" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00012396114199914854 -0.008136465446228201 0.0013663570731773827" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0015009627103548405 -0.009636634177687313 0.018306164926812883" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.37037 | 223 | 0.657353 |
606397004a0c1178a563612cd05810f3bf871f04 | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4573_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4573_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4573_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="0.01031143782203253 0.01031143782203253 0.01031143782203253" />
</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="0.025078731491505423 0.06287170298064686 0.22903452385032852">
<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 |
60687fe45bc60de3e4e1329bf17dd3bdb0959c8c | 104,195 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_lamp_2_3_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_lamp_2_3_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_lamp_2_3_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="downloaded_assets/lamp_2/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.8075739672925395 1.8075739672925395 1.8075739672925395"/><mesh class="geom0" file="downloaded_assets/vase_1/scene.stl" name="gen_mesh_gadded_2" scale="0.852807012315725 0.852807012315725 0.852807012315725"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.1159086709810346 1.1159086709810346 1.1159086709810346"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.221575909431298 1.221575909431298 1.221575909431298"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="0.630525564000004 0.630525564000004 0.630525564000004"/></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 0.014898670908241226" name="gen_body_0" pos="-0.05 -0.35 0.4184055134654045"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.25993420655276744 0.8445747354530218 0.27767485505860956 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.765625313500003" name="gen_body_gadded_1" pos="0.18881731685013747 -0.25950888058365035 0.3003875085300504"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.90672494215264 0.2928554993196635 0.7435935717722818 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.7072686036992962" name="gen_body_gadded_2" pos="0.2428089173400067 0.09089069978412012 0.4481696032115601"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.4629881012660769 0.6153651772924383 0.9499043683003808 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 3.6883703606621934" name="gen_body_gadded_3" pos="0.6362696840084234 -0.3019381094329955 0.3001068715047631"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.8665384295101569 0.7124712355098309 0.865087940872478 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.1285604029020595" name="gen_body_gadded_4" pos="-0.20059665460076942 -0.5237234960566127 0.3005061243387237"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.30023850120432494 0.3043976359254633 0.3903976796375451 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 3.095293418490101" name="gen_body_gadded_5" pos="-0.22811068267557683 -0.3465370268305434 0.3002612398909878"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.6240671253881521 0.3855027574481191 0.07125821199642557 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 152.331871 | 23,417 | 0.69274 |
606a35485db7625036273727946ed580a3d4af38 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1892_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1892_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1892_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/189/189.stl" name="obj0" scale="0.00354106349042002 0.00354106349042002 0.00354106349042002" />
</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="0.023812049641845218 0.03234396414852826 0.023570248121401887">
<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="-0.0034310946843366546 -0.01960139432289027 -0.004065643394662304" rgba="1 0 0 0" size="0.011906024820922609 0.01617198207426413 0.011785124060700944" 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 | 199 | 0.669496 |
606b196418a891d02a944f82ace35d22b3058b25 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9512_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9512_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9512_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/951/951.stl" name="obj0" scale="0.007080546465185339 0.007080546465185339 0.007080546465185339" />
</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="0.02282360694926682 0.05098118072551232 0.23782943031457351">
<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 |
606cad9b4628f1287030ffe7fc68483509d51b6a | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3005_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3005_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3005_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/300/300.stl" name="obj0" scale="0.006041904078881891 0.006041904078881891 0.006041904078881891" />
</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="0.018033666848955947 0.04 0.034193038382177465" 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="0.0008182372571949978 0.001785130322506892 0.04165426468825276" size="0.023345085235716212 0.021887920493193304 0.059522344604220345" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.00015969982152610026 -0.000799389528374203 0.00016558693298835236" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0008182372571949978 0.001785130322506892 0.03165426468825275" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.37037 | 222 | 0.658456 |
606ec56f8fc59e0ad78a8b8727b89b594157dfa7 | 2,723 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6953_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6953_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6953_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/695/695.stl" name="obj0" scale="0.007157640866622105 0.007157640866622105 0.007157640866622105" />
</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="0.004398606514687882 0.04 0.018126374770318015" 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="-0.0007988083074425548 -0.006015229832785976 0.05191561349330532" size="0.016901599942931018 0.01263590407628133 0.05649825172029347" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.00013196976589283885 -0.006156372292091834 -0.00018403171230026936" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0007988083074425548 -0.006015229832785976 0.04191561349330532" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.425926 | 222 | 0.656996 |
607003ff12f22433f73687db79998cfed5bff73d | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1642_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1642_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1642_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/164/164.stl" name="obj0" scale="0.005381267326764462 0.005381267326764462 0.005381267326764462" />
</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="0.014384393937174084 0.036517793990453344 0.028279431567454185">
<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="-0.000645342490249563 -0.014891284554417645 0.0029069899374559154" rgba="1 0 0 0" size="0.007192196968587042 0.018258896995226672 0.014139715783727093" 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 |
607090708d44c7ebb1bb10ea096f802e2236249b | 80,309 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_cardboard_box_1_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_cardboard_box_1_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_cardboard_box_1_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cardboard_box/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.7806682561143392 1.7806682561143392 1.7806682561143392"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.5062559607169095 1.5062559607169095 1.5062559607169095"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.382976270630872 1.382976270630872 1.382976270630872"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.1392410543271163 1.1392410543271163 1.1392410543271163"/></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 3.8601864158387897" name="gen_body_0" pos="-0.05 -0.35 0.3425949655473232"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.1763761529325204 0.274589571650131 0.13912813363168852 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.688338182743306" name="gen_body_gadded_1" pos="0.16333191321026508 -0.35 0.3087019975429348"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9832436687132942 0.5369383849793494 0.5711943815533674 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.802287729448435" name="gen_body_gadded_2" pos="-0.17036089400825502 -0.6249970521496946 0.3004573796258641"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.82389349461518 0.21442998710090555 0.592274691687246 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.58433701744852" name="gen_body_gadded_3" pos="-0.1144532348306486 -0.05642235582834498 0.3001324487625231"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.062494187233363196 0.5731565106214567 0.26159431536850364 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.606287840403902" name="gen_body_gadded_4" pos="0.27859475387215477 0.0432918397877059 0.3008454946279868"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.09764095928551264 0.9121753813342053 0.6786673249964981 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> | 117.410819 | 1,617 | 0.687345 |
6071ee1a704d64bdb8cdb8d4b3160f78a14eaf62 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8772_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8772_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8772_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/877/877.stl" name="obj0" scale="0.00435906637101571 0.00435906637101571 0.00435906637101571" />
</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="0.027602220710096603 0.032510762653911146 0.21577958487349286">
<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 |
607316d2f0e89c92fcafb9d7a6b77984fb76ea53 | 16,485 | xml | XML | data_gen/collect_bottle_data_xmls/test_bottle_331601288075868e342fe691e18bb5fd.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_bottle_data_xmls/test_bottle_331601288075868e342fe691e18bb5fd.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | data_gen/collect_bottle_data_xmls/test_bottle_331601288075868e342fe691e18bb5fd.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="" texturedir="" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="shared_bottle_331601288075868e342fe691e18bb5fd.xml" />
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0 0 0" size="1.05 0.7 1" type="plane" />
<body name="floor0" pos="0 0 0">
</body>
<body name="table0" pos="0 0 0.2">
<geom condim="3" friction="0.1 0.005 0.0001" mass="2000" material="table_mat" name="table0" size="0.625 0.45 0.2" type="box" />
</body>
<body name="object0" pos="0.0 0.0 0.55">
<camera name="yunchu_view" pos="0.025 0.025 3.02" />
<camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0" />
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="4" density="0.19305827166556205" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_0" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.003265859695790923" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_1" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.04079831503680029" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_2" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2538914844568223" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_3" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7595865760585047" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_4" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2712150179481689" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_5" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.26127508483156586" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_6" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.003806662996642861" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_7" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.038066774082196865" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_8" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5469113603601867" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_9" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.40998003244341547" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_10" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6330565735203953" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_11" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2538870837683995" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_12" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.44420869491320136" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_13" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.38738395146719196" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_14" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9783110884138289" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_15" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.37118811840189203" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_16" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.45767954250437265" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_17" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8015690344878204" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_18" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.6300236102738639" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_19" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.3788300358148347" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_20" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.126886347321407" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_21" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9040030067027676" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_22" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.5802114163578547" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_23" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.505360568791972" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_24" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.2661489695106358" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_25" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.145590269196173" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_26" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.0054691191288450845" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_27" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.026766579221999726" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_28" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9306633429424159" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_29" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5467710321204804" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_30" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.30473262936124873" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_31" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.320641272743189" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_32" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.49828308862480103" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_33" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.127614386640416" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_34" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.3477041357092525" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_35" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6938119355736649" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_36" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6410755444198187" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_37" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.15206298226423276" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_38" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7982043532594688" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_39" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1858265857973829" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_40" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.211079922114404" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_41" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8908322691161593" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_42" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.40116469809718097" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_43" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.39424587902545893" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_44" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9273758794907547" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_45" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.0413338977043178" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_46" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.260147206632698" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_47" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8816672309073679" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_48" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.3835677883361329" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_49" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.42117159938138227" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_50" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8683591841084434" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_51" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.4797100891364853" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_52" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8581086852056264" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_53" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.1676825977603789" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_54" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6505124603946911" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_55" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5215435702122243" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_56" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.0988624850468764" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_57" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9141341047866643" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_58" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5763442228162289" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_59" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.586632741626974" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_60" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2889726565182885" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_61" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7455723043995529" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_62" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5115056329982766" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_63" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5748249154758125" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_64" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.4223582463156218" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_65" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5619863493642397" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_66" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8923949959566697" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_67" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7969341558837195" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_68" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7922580138930491" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_69" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6528954784648449" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="331601288075868e342fe691e18bb5fd_mesh_70" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /></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 />
</mujoco> | 531.774194 | 15,362 | 0.715317 |
60738ca60261c3eb37fd437260b26cd5c7970e8c | 17,448 | xml | XML | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581903850_7780282/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581903850_7780282/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581903850_7780282/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="5000" friction="0.5 0.005 0.0001" group="1" name="cube" pos="0 0 0" rgba="1 0 0 1" size="0.020749961954686355 0.020397173058217376 0.020280133376068186" 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 |
60747d8c3fef891aabd929bfc4815d7a802d941d | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3761_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3761_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3761_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/376/376.stl" name="obj0" scale="0.007302172883685139 0.007302172883685139 0.007302172883685139" />
</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="0.021577420672447053 0.0437608194638196 0.010861113205908487">
<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="-0.00015256935153985104 -0.0044465569396509655 0.00018429734609591813" rgba="1 0 0 0" size="0.010788710336223526 0.0218804097319098 0.005430556602954243" 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 | 202 | 0.670993 |
6074f7f474243920a45950d9bed18deaffaddaa4 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3418_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3418_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3418_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/341/341.stl" name="obj0" scale="0.006115039768435527 0.006115039768435527 0.006115039768435527" />
</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="0.029341614927211022 0.045672369809837604 0.03164064362367135">
<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="0.0035679507059200024 -0.02080725311719729 -0.010912813340889288" rgba="1 0 0 0" size="0.014670807463605511 0.022836184904918802 0.015820321811835673" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 199 | 0.670621 |
60765b4821c1a366be3c979079a463b9a4981597 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5721_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5721_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5721_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/572/572.stl" name="obj0" scale="0.006975044813259238 0.006975044813259238 0.006975044813259238" />
</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="0.034458098948851254 0.04200653080850687 0.024221380192493328">
<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="-0.007252937877448991 0.00510354989577025 0.004073431802391506" rgba="1 0 0 0" size="0.017229049474425627 0.021003265404253436 0.012110690096246664" 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 |
6076c9fd23ae93be2d1cbf243af2a7ebb6f81388 | 4,370 | xml | XML | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.5_height=0.225.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.5_height=0.225.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
"MIT"
] | null | null | null | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.5_height=0.225.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="3.5 0. 0.">
<geom conaffinity="1" contype="1" density="0.00001" rgba="1. 0. 1. 1." size="0.01 0.4 0.225" 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> | 65.223881 | 164 | 0.571396 |
6076f813f9545cb42ad6f52df8ce5506f9368880 | 76,777 | xml | XML | herb_reconf/cluttered_scenes/grasping_014_lemon_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_014_lemon_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_014_lemon_1_0.7_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.7309042698032242 0.7309042698032242 0.7309042698032242"/><mesh class="geom0" file="ycb_objects/017_orange/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.562583420720594 1.562583420720594 1.562583420720594"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.0128061357409126 1.0128061357409126 1.0128061357409126"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 1.1073072108340352" name="gen_body_0" pos="0 0 0.30023499999952036"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7867821031073889 0.8120086003509591 0.824559910803461 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.1138845279547143" name="gen_body_gadded_1" pos="0.08071438424327687 0.0 0.30054244497144494"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.27080257861237955 0.3005139216003563 0.4191186237990082 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.40752983564735357" name="gen_body_gadded_2" pos="0.06990505419710746 0.30432799297030894 0.300192268172713"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9989499225345957 0.4755781481783101 0.6127895860419736 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 6.0505636886071565" name="gen_body_gadded_3" pos="0.5095673287343394 -0.14583585357650095 0.3004196266983896"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.03868839651241962 0.16260922308387282 0.4968024722454636 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="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> | 120.529042 | 1,278 | 0.683942 |
60786758d26bdec9947a399c56defa5d918b02e7 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7535_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7535_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7535_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/753/753.stl" name="obj0" scale="0.010947612020713404 0.010947612020713404 0.010947612020713404" />
</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="0.015603582148868719 0.07017906474012214 0.03268067455908339">
<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="-0.0002691498726129376 -0.0007793363932084006 0.0007003599797937464" rgba="1 0 0 0" size="0.0078017910744343595 0.03508953237006107 0.016340337279541695" 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 | 202 | 0.670993 |
607a67d5a98b16c138a7dd56f4eb9310c524c79e | 1,635 | xml | XML | watch/assets.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
"Apache-2.0"
] | 1 | 2022-03-13T21:24:49.000Z | 2022-03-13T21:24:49.000Z | watch/assets.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
"Apache-2.0"
] | null | null | null | watch/assets.xml | vikashplus/object_sim | 87cd8dd5a11518b94fca16bc22bb04f6836c6aa7 | [
"Apache-2.0"
] | null | null | null | <mujocoinclude model="">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: Objects (MuJoCoV2.0)
Author :: Vikash Kumar (vikashplus@gmail.com), Sudeep Dasari (sdasari@andrew.cmu.edu )
Details :: https://github.com/vikashplus/object_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<asset>
<mesh name="watch" file="../object_sim/watch/watch.stl"/>
<mesh name="contact0" file="../object_sim/watch/contact0.stl"/>
<mesh name="contact1" file="../object_sim/watch/contact1.stl"/>
<mesh name="contact2" file="../object_sim/watch/contact2.stl"/>
<mesh name="contact3" file="../object_sim/watch/contact3.stl"/>
<mesh name="contact4" file="../object_sim/watch/contact4.stl"/>
<mesh name="contact5" file="../object_sim/watch/contact5.stl"/>
<mesh name="contact6" file="../object_sim/watch/contact6.stl"/>
<mesh name="contact7" file="../object_sim/watch/contact7.stl"/>
<mesh name="contact8" file="../object_sim/watch/contact8.stl"/>
</asset>
</mujocoinclude> | 77.857143 | 519 | 0.64893 |
607a7b890ba6b1c2c6cf4a6f5c7c499974a8bad2 | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7125_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7125_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7125_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/712/712.stl" name="obj0" scale="0.005665028293275682 0.005665028293275682 0.005665028293275682" />
</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="0.03241817822603888 0.04 0.03406677510474991" 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="-0.011048937318801246 -0.019947061229152872 -0.0006524215074530729" size="0.019321050823011488 0.013640987902998567 0.04556927653170006" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.01124553073186605 -0.006582172153859993 -0.01380351981311425" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.011048937318801246 -0.019947061229152872 -0.010652421507453075" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.37037 | 225 | 0.655515 |
607b042ee8e912fad8b97c7d605b5b1cd7d808a8 | 90,260 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_008_pudding_box_3_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_008_pudding_box_3_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_008_pudding_box_3_1.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/008_pudding_box/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/053_mini_soccer_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="0.8685217663695262 0.8685217663695262 0.8685217663695262"/><mesh class="geom0" file="ycb_objects/014_lemon/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.507053663577431 1.507053663577431 1.507053663577431"/></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 4.781881344786478" name="gen_body_0" pos="0 0 0.30049700000090523"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.782811301167394 0.6793914704835361 0.7007391592502779 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.018514376143645" name="gen_body_gadded_1" pos="0.30790136751359726 0.21237565257596605 0.30041483360669863"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.9110366407116905 0.3922058475411154 0.7481911852050971 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.032141679429889" name="gen_body_gadded_2" pos="-0.12366076168872564 0.39308602329184733 0.30035033112250287"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3098426605116278 0.6877458129779387 0.2543529269646023 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> | 131.959064 | 10,958 | 0.688522 |
607b17f92a3e82c19d517701066a66e0bb85880a | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5750_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5750_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5750_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/575/575.stl" name="obj0" scale="0.01099751151232294 0.01099751151232294 0.01099751151232294" />
</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="0.02020181278749255 0.07012881593791005 0.020938305135961306">
<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="-0.0001375139612966156 -0.010744510423632593 0.0005816293062956777" rgba="1 0 0 0" size="0.010100906393746275 0.035064407968955026 0.010469152567980653" 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 | 201 | 0.670249 |
607d167e6a5fe6da08c8d3cc3d854af9eb1f5fb6 | 2,721 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5264_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5264_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5264_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/526/526.stl" name="obj0" scale="0.007321336286638369 0.007321336286638369 0.007321336286638369" />
</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="0.013429673577306492 0.04 0.009738127698198411" 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="4.212594970750595e-05 7.426749474640218e-05 0.043567803374134684" size="0.012383665486332546 0.010823013668381657 0.05300959732148426" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0009119428870165252 -0.0001016199255531187 0.0002963337508488343" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="4.212594970750595e-05 7.426749474640218e-05 0.03356780337413469" 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 | 0.657111 |
60807cab5298de4bc2aad86d957117dd2f34684b | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6133_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6133_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6133_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/613/613.stl" name="obj0" scale="0.004513436992253848 0.004513436992253848 0.004513436992253848" />
</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="0.014199220873105193 0.036866667323720355 0.2366431867477674">
<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 |
6080abb3e9c6f1ebc3c369b577824407d22eef84 | 7,783 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_010.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_010.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_010.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
</option>
<size nkey="5" nuser_geom="1" />
<visual>
<map fogend="5" fogstart="3" />
</visual>
<worldbody>
<body name="torso" pos="0.0 0.0 1.1706143369242432">
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" />
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" />
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" />
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" />
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" />
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" />
<geom fromto="-0.02 -0.08553869811900032 0.0 -0.02 0.08553869811900032 0.0" name="butt" size="0.09" type="capsule" />
<body name="right_thigh" pos="0.0 -0.12219814017000044 -0.04">
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.011158379581307677 -0.379384905764461" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.011158379581307677 -0.44968269712669934">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.24928775986502927" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.3739316397975439">
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" />
</body>
</body>
</body>
<body name="left_thigh" pos="0.0 0.12219814017000044 -0.04">
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" />
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 -0.011158379581307677 -0.379384905764461" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.011158379581307677 -0.44968269712669934">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" />
<geom fromto="0.0 0.0 0.0 0.0 0.0 -0.24928775986502927" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.3739316397975439">
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" />
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" />
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" />
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" />
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" />
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" />
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" />
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" />
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y" />
<joint coef="1" joint="left_knee" />
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y" />
<joint coef="1" joint="right_knee" />
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y" />
<motor gear="100" joint="abdomen_z" name="abdomen_z" />
<motor gear="100" joint="abdomen_x" name="abdomen_x" />
<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
<motor gear="100" joint="left_hip_x" name="left_hip_x" />
<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
</actuator>
</mujoco> | 72.738318 | 149 | 0.533856 |
6080bdbd702f122432dec03ec5f9904b4508d095 | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3152_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3152_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3152_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/315/315.stl" name="obj0" scale="0.005636767677308579 0.005636767677308579 0.005636767677308579" />
</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="0.01770574959462833 0.04 0.01888666933332751" 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="-0.005072168387925071 -0.008304183091010138 0.03452117484685939" size="0.012009677492654042 0.017331561561045417 0.0569598640711403" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0009147288475528559 -0.009563927341174866 -0.004732939629652581" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.005072168387925071 -0.008304183091010138 0.02452117484685939" 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 | 0.656112 |
608215baec4090c59c0706857281519108176812 | 4,280 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_194.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_194.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_194.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="0.0029311147673271197 0.04302886063368705 0.0044693711158781" pos="-0.22646183265206055 -0.0230587486764513 0.20446937111587812" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.020266046751609347 0.007181540404227515 0.004335524038951974" pos="0.21844048099568564 0.1444910182331306 0.204335524038952" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.009161724325657455 0.013917852486375691 0.001042290698172351" pos="0.19948113374304172 -0.019428840130600922 0.20104229069817237" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.008371865445516494 0.0014946635634881713 0.0014647019994023136" pos="0.2844783356929838 -0.2809854807020069 0.20146470199940233" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04566112482299718 0.003839080583072526 0.0033916742155653645" pos="-0.09018184199869364 -0.02670094331984668 0.20339167421556537" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011835801287085244 0.017587767123900887 0.0016097200700809068" pos="0.12534016474509896 0.2227521488896695 0.2016097200700809" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.021056512583108675 0.040994834012005495 0.0001565912791321036" pos="0.17261860395143164 0.015572285375995198 0.2001565912791321" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04185271633918665 0.011977990780679883 0.0019460401867591635" pos="0.11862514826276521 0.20905223523920152 0.20194604018675918" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.375 0.6759121079743999 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="1537.51233362" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="4.413027166427138"></joint>
<site name="object0" pos="0.0 0.00908789202560012 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="0.001408662956065 0.001408662956065 0.001408662956065" file="mujoco_models/Filament_Spool_Leveler.stl" name="object_mesh"/>
<texture file="textures/obj_textures/crosshatched_0124.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>
| 75.087719 | 281 | 0.671495 |
60822d00f36d46750f517e7f1b0ae57b2401d903 | 109,197 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_017_orange_3_0.8_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_0.8_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_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.5745857349080297 1.5745857349080297 1.5745857349080297"/><mesh class="geom0" file="downloaded_assets/lamp_1/scene.stl" name="gen_mesh_gadded_2" scale="1.262543647992711 1.262543647992711 1.262543647992711"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.5378066230294369 0.5378066230294369 0.5378066230294369"/><mesh class="geom0" file="ycb_objects/008_pudding_box/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.5584697792838855 1.5584697792838855 1.5584697792838855"/><mesh class="geom0" file="ycb_objects/016_pear/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="0.9916824359749206 0.9916824359749206 0.9916824359749206"/><mesh class="geom0" file="ycb_objects/010_potted_meat_can/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="1.8877908852826002 1.8877908852826002 1.8877908852826002"/></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 3.350335204290693" name="gen_body_0" pos="-0.05 -0.35 0.30024799999664536"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9608399694954045 0.3189121582105273 0.954096926933925 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.8346064363012462" name="gen_body_gadded_1" pos="-0.14534084707668649 -0.31109408714854875 0.30030039419834387"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5656645135617322 0.19855821994480138 0.30895280249897483 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.375054962146697" name="gen_body_gadded_2" pos="-0.3143342751887624 0.28679152607001823 0.6331633587687722"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8584737648105345 0.8059456814168781 0.6621374725014075 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.044161595802755" name="gen_body_gadded_3" pos="0.3953525296077638 -0.07246487505057964 0.2999501062720527"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.7550286500833612 0.4029644539686529 0.453656144524189 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.952225251204556" name="gen_body_gadded_4" pos="0.5212277362501481 -0.6285456572097061 0.30091254837237247"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.18367092214571312 0.6561486907941714 0.4659667359300871 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 1.3576529471909407" name="gen_body_gadded_5" pos="-0.27181984024805383 -0.15542191839322286 0.2995005341738673"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.6278695284118138 0.7886827172745396 0.7728853673387259 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 1.5639152732373278" name="gen_body_gadded_6" pos="-0.08177559395225908 0.059965390853161105 0.3094082629522302"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.8321421818172923 0.6000357671261415 0.27814144421686915 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_6" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_6" geom2="gen_geom_gadded_5" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<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> | 159.644737 | 27,872 | 0.694112 |
6084240cabe0ca5bca64f873f0db7e1f2a6ab4bd | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7737_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7737_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7737_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/773/773.stl" name="obj0" scale="0.006092178313185485 0.006092178313185485 0.006092178313185485" />
</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="0.028315661954772888 0.04 0.01581130757032354" 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="-0.005912948199183454 0.010608981850030346 0.03056273901142965" size="0.02084204696831184 0.01406489347404996 0.04704319666237695" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0019141512300359551 -0.0004914230456414427 -0.0006691500806237569" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.005912948199183454 0.010608981850030346 0.02056273901142965" 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 | 219 | 0.656607 |
60848cea9cfadb1ac7d048ece1682d0df7430243 | 90,256 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_019_pitcher_base_4_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_019_pitcher_base_4_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_019_pitcher_base_4_0.0_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/019_pitcher_base/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="1.8199586128817724 1.8199586128817724 1.8199586128817724"/><mesh class="geom0" file="downloaded_assets/potted_plant_2/scene.stl" name="gen_mesh_gadded_2" scale="0.5380886444709417 0.5380886444709417 0.5380886444709417"/></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 3.0235886565650625" name="gen_body_0" pos="0 0 0.30282200006768106"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.22506204342858405 0.7572632274612668 0.8241198478477951 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.620314696455796" name="gen_body_gadded_1" pos="0.22473159208439655 -0.009694230077287699 0.31607922535958943"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.310638358674979 0.6920213023593392 0.9312264960127883 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.431911364779181" name="gen_body_gadded_2" pos="0.4983020599878819 0.36348575871448263 0.3476592858993001"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2690240327766993 0.3414154643899312 0.08527928924488692 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 131.953216 | 10,958 | 0.688519 |
6084ff60f26d713af2df69f12cfdb10d90b0aed5 | 2,727 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3770_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3770_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3770_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/377/377.stl" name="obj0" scale="0.006936220928347278 0.006936220928347278 0.006936220928347278" />
</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="0.011970325459624346 0.04 0.005236198264245394" 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="0.00015274737485786638 -0.00014916422534947803 0.040800904491410855" size="0.011344660191828886 0.011389820451077462 0.04499838284373629" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0004567836737295695 -0.0005852057950406688 0.001038719911919957" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00015274737485786638 -0.00014916422534947803 0.030800904491410853" 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 | 226 | 0.658599 |
6085ab2f3ea77b6ecf25adfa82b32e246d2ab300 | 81,337 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_026_sponge_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_026_sponge_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_026_sponge_2_0.8_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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/026_sponge/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="1.1092735580703166 1.1092735580703166 1.1092735580703166"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.1744969510364625 1.1744969510364625 1.1744969510364625"/><mesh class="geom0" file="ycb_objects/007_tuna_fish_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.8114981889700346 0.8114981889700346 0.8114981889700346"/><mesh class="geom0" file="ycb_objects/007_tuna_fish_can/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.953157916479063 1.953157916479063 1.953157916479063"/><mesh class="geom0" file="ycb_objects/016_pear/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="0.8817487092395206 0.8817487092395206 0.8817487092395206"/><mesh class="geom0" file="ycb_objects/016_pear/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="1.9798364420553314 1.9798364420553314 1.9798364420553314"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="2 -1.5 2" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.8640539985681032" name="gen_body_0" pos="-0.05 -0.35 0.29988399999710963"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.03222098979540344 0.04970459507939584 0.9601377201975148 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.62151202939991" name="gen_body_gadded_1" pos="0.048228020840755594 -0.35 0.30021158926344754"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6708521406508454 0.2907880493280255 0.42021059560522966 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.928955644800705" name="gen_body_gadded_2" pos="0.2726520124888316 -0.7649156283362591 0.3014003686350606"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9013075777964342 0.14509056628883743 0.763729501967519 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.9465298531898405" name="gen_body_gadded_3" pos="-0.08672071275256907 -0.5149999935488818 0.30272231070504574"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.07031958718198972 0.024951996419023348 0.1769065334197757 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 1.6638781744605609" name="gen_body_gadded_4" pos="0.1059540982896038 -0.30763575211823485 0.30655220533939614"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.46905878984665206 0.3777130093618447 0.23469916238499078 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 4.4235408549894215" name="gen_body_gadded_5" pos="0.2579309403627579 -0.32712386101188523 0.29955590285761247"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.39119761894227834 0.3071067435452426 0.17165649482115353 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 0.8775417456181863" name="gen_body_gadded_6" pos="0.40845421532358933 -0.4090423943145233 0.29900284550786344"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.16748759616705977 0.06823256581270731 0.08627573970188807 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="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> | 118.913743 | 2,306 | 0.688838 |
60889062a7ebf7df9720dcbf7c64972e3eb13838 | 76,270 | xml | XML | herb_reconf/cluttered_scenes/grasping_cardboard_box_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_cardboard_box_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_cardboard_box_1_0.3_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="10" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" friction="2 0.1 0.02" group="0" priority="10" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="2 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="2 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/>
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/cardboard_box/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="1.4395146792053335 1.4395146792053335 1.4395146792053335"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.2432021139429463 1.2432021139429463 1.2432021139429463"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 0.012628196837952205" name="gen_body_0" pos="0 0 0.3425949655473232"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.09554919920876204 0.9250037018616327 0.34357342320721895 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.05651004237889966" name="gen_body_gadded_1" pos="0.24186004565633967 0.0 0.3021920527977275"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.17132584264377093 0.12733474180618487 0.45520634844692864 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 4.928689826216657" name="gen_body_gadded_2" pos="0.17297804614397777 -0.14514759774194108 0.3006005975871294"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.23559472439157547 0.23779172015837957 0.7359158732407093 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> | 119.733124 | 949 | 0.683152 |
6089d8c60ec4392e9a7b7b87edddd53e461d4069 | 1,774 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2399_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2399_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2399_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/239/239.stl" name="obj0" scale="0.008610081807568988 0.008610081807568988 0.008610081807568988" />
</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="0.020289730965231685 0.055642236092446916 0.012677902042432245">
<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="-5.7114450569807256e-05 -0.002250126484389849 8.983331860870331e-05" rgba="1 0 0 0" size="0.010144865482615843 0.027821118046223458 0.006338951021216122" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.268293 | 202 | 0.670237 |
608c78b24d491fd898c55fa33934eb335afdc030 | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4069_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4069_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4069_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/406/406.stl" name="obj0" scale="0.0045980108545242235 0.0045980108545242235 0.0045980108545242235" />
</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="0.018463579270971583 0.04 0.025655206201245274" 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="0.010740524940725015 0.017627097923016383 0.03500957305369291" size="0.013335752662386891 0.021213769263735256 0.05242110736943969" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.003790473612013711 0.01707532204066909 0.0010520449552248133" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.010740524940725015 0.017627097923016383 0.025009573053692915" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.296296 | 220 | 0.658321 |
608d2264dba329c6fac479693600a0e17be783ae | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1323_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1323_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1323_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/132/132.stl" name="obj0" scale="0.00419906182945709 0.00419906182945709 0.00419906182945709" />
</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="0.028035153878101488 0.03966477264395102 0.21684816451828778">
<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 |
608ef7f10214275da4cf9beb5910e6215aaf4c24 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4699_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4699_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4699_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/469/469.stl" name="obj0" scale="0.008392853094486081 0.008392853094486081 0.008392853094486081" />
</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="0.038672450006696904 0.05368820838870563 0.2328418258548672">
<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 |
6091bede7d9370771d681a86d28210926680fb11 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1938_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1938_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1938_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/193/193.stl" name="obj0" scale="0.008664756304708258 0.008664756304708258 0.008664756304708258" />
</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="0.02798672962639244 0.05783778121644036 0.02180529681099172">
<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="0.0009627316020528846 -0.005281098413696643 0.0014401473934825292" rgba="1 0 0 0" size="0.01399336481319622 0.02891889060822018 0.01090264840549586" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.073171 | 197 | 0.670442 |
6091c4e5031d342275debbdae090cba7e426bfac | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5746_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5746_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5746_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/574/574.stl" name="obj0" scale="0.010179919989009426 0.010179919989009426 0.010179919989009426" />
</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="0.038015440200517295 0.07907320547930999 0.020553177018450115">
<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="0.0016944588292894355 0.006037249491740177 0.0005594427972358072" rgba="1 0 0 0" size="0.019007720100258647 0.039536602739654994 0.010276588509225058" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 199 | 0.671751 |
6093c7770c2b334c84eebc42b31109b6b4f73d4c | 1,448 | xml | XML | envs/mujoco/envs/assets/single_peg_hole/full_peg_insertion_experiment_no_gravity_moving_hole_id=064.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | 1 | 2021-11-22T07:45:28.000Z | 2021-11-22T07:45:28.000Z | envs/mujoco/envs/assets/single_peg_hole/full_peg_insertion_experiment_no_gravity_moving_hole_id=064.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | envs/mujoco/envs/assets/single_peg_hole/full_peg_insertion_experiment_no_gravity_moving_hole_id=064.xml | hzm2016/assistive-gym-robosuite | 5c529f4444cc386383618bfa584341740a8468f9 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-007372_outer=0-10_height=0-05_num_facets=16_id=064.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
| 30.166667 | 113 | 0.543508 |
6096f078988807a0fd69d02b3b199f5ad66023f8 | 2,715 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6922_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6922_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6922_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/692/692.stl" name="obj0" scale="0.005511915348555269 0.005511915348555269 0.005511915348555269" />
</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="0.02240274724884803 0.04 0.03648964576366933" 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="-0.004819184102804635 -0.005748156137599315 0.0403247130394106" size="0.021631358609232904 0.012257429197506768 0.0453464385006805" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.0032523234179701772 -0.021984593191938826 0.017381021787578117" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.004819184102804635 -0.005748156137599315 0.030324713039410593" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.277778 | 220 | 0.656354 |
6099f915714da61b1d3a48507f3cf824fc9dbe2a | 2,395 | xml | XML | assets/actuator0.xml | etpr/franka_sim | 1fdc964cc9c423674f324f380af463e6e7f313c9 | [
"Apache-2.0"
] | null | null | null | assets/actuator0.xml | etpr/franka_sim | 1fdc964cc9c423674f324f380af463e6e7f313c9 | [
"Apache-2.0"
] | null | null | null | assets/actuator0.xml | etpr/franka_sim | 1fdc964cc9c423674f324f380af463e6e7f313c9 | [
"Apache-2.0"
] | null | null | null | <mujocoinclude>
<!-- =================================================
Copyright 2018 Vikash Kumar
Model :: Franka (MuJoCoV2.0)
Author :: Vikash Kumar (vikashplus@gmail.com)
source :: https://github.com/vikashplus/franka_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -->
<actuator>
<position name="panda0_joint1" joint="panda0_joint1" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
<position name="panda0_joint2" joint="panda0_joint2" class="panda" kp="870" forcerange="-87 87" ctrlrange="-1.8326 1.8326"/> <!-- velocity="2.1750" -->
<position name="panda0_joint3" joint="panda0_joint3" class="panda" kp="870" forcerange="-87 87" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.1750" -->
<position name="panda0_joint4" joint="panda0_joint4" class="panda" kp="870" forcerange="-87 87" ctrlrange="-3.1416 0.0"/> <!-- velocity="2.1750" -->
<position name="panda0_joint5" joint="panda0_joint5" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.6100" -->
<position name="panda0_joint6" joint="panda0_joint6" class="panda" kp="120" forcerange="-12 12" ctrlrange="-1.66 2.1817"/> <!-- velocity="2.6100" -->
<position name="panda0_joint7" joint="panda0_joint7" class="panda" kp="120" forcerange="-12 12" ctrlrange="-2.9671 2.9671"/> <!-- velocity="2.9671" -->
<!-- <position name="r_gripper_finger_joint" joint="panda0_finger_joint1" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!– velocity=".2" –>-->
<!-- <position name="l_gripper_finger_joint" joint="panda0_finger_joint2" class="panda_finger" kp="500" forcerange="-70 70" ctrlrange="0 0.04"/> <!– velocity=".2" –>-->
</actuator>
</mujocoinclude> | 114.047619 | 520 | 0.650522 |
609a62b91a1afb484f13d4ab2be6939242b356cc | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3071_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3071_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3071_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/307/307.stl" name="obj0" scale="0.005918427057880951 0.005918427057880951 0.005918427057880951" />
</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="0.03904745578606477 0.04106469246447291 0.2394528147736861">
<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 |
609b087e4a812241429d29dfca493336a70a7e59 | 3,198 | xml | XML | dm_control/third_party/kinova/jaco_arm.xml | h8907283/dm_control | fe4449606742a7b8bec81930790b98244cddc538 | [
"Apache-2.0"
] | 2,863 | 2018-01-03T01:38:52.000Z | 2022-03-30T09:49:50.000Z | dm_control/third_party/kinova/jaco_arm.xml | krakhit/dm_control | 4e1a35595124742015ae0c7a829e099a5aa100f5 | [
"Apache-2.0"
] | 266 | 2018-01-03T16:00:04.000Z | 2022-03-26T15:45:48.000Z | dm_control/third_party/kinova/jaco_arm.xml | krakhit/dm_control | 4e1a35595124742015ae0c7a829e099a5aa100f5 | [
"Apache-2.0"
] | 580 | 2018-01-03T03:17:27.000Z | 2022-03-31T19:29:32.000Z | <mujoco model="jaco_arm">
<compiler angle="radian" meshdir="meshes_decimated/"/>
<include file="common.xml"/>
<asset>
<mesh name="base" file="base.stl"/>
<mesh name="shoulder" file="shoulder.stl"/>
<mesh name="arm" file="arm.stl"/>
<mesh name="forearm" file="forearm.stl"/>
<mesh name="wrist" file="wrist.stl"/>
</asset>
<default>
<geom type="mesh" material="dark_gray" condim="3" contype="3" conaffinity="2"/>
<joint type="hinge" damping="0.01"/>
<default class="large_joint">
<joint armature="4" frictionloss="2"/>
</default>
<default class="small_joint">
<joint armature="2" frictionloss="1"/>
</default>
<default class="ring">
<geom type="cylinder" material="light_gray" mass="0"/>
<default class="large_ring">
<geom size="0.044 0.011"/>
</default>
<default class="small_ring">
<geom size="0.035 0.009"/>
</default>
</default>
</default>
<worldbody>
<body name="b_base">
<geom name="base" mesh="base" mass="0.718306"/>
<body name="b_1" pos="0 0 0.15675" quat="0 0 1 0">
<joint name="joint_1" class="large_joint"/>
<geom name="link_1" mesh="shoulder" mass="0.643205"/>
<geom name="ring_1" class="large_ring"/>
<body name="b_2" pos="0 0.0016 -0.11875" quat="0 0 -0.707107 0.707107">
<joint name="joint_2" class="large_joint" limited="true" range="0.820305 5.462881" />
<geom name="link_2" mesh="arm" mass="1.16915"/>
<geom name="ring_2" class="large_ring"/>
<body name="b_3" pos="0 -0.41 0" quat="0 0 1 0">
<joint name="joint_3" class="large_joint" limited="true" range="0.331613 5.951573"/>
<geom name="link_3" mesh="forearm" mass="0.673443"/>
<geom name="ring_3" class="large_ring"/>
<body name="b_4" pos="0 0.2073 -0.0114" quat="0 0 -0.707107 0.707107">
<joint name="joint_4" class="small_joint"/>
<geom name="link_4" mesh="wrist" mass="0.221432"/>
<geom name="ring_4" class="small_ring"/>
<body name="b_5" pos="0 -0.03703 -0.06414" quat="0 0 0.5 0.866025">
<joint name="joint_5" class="small_joint"/>
<geom name="link_5" mesh="wrist" mass="0.221432"/>
<geom name="ring_5" class="small_ring"/>
<body name="b_6" pos="0 -0.03703 -0.06414" quat="0 0 0.5 0.866025">
<joint name="joint_6" class="small_joint"/>
<!-- This geom has a tiny mass because MuJoCo doesn't allow massless bodies with
DOFs. Normally the gripper would be attached as a child of this body. -->
<geom name="ring_6" class="small_ring" mass="1e-9"/>
<site name="wristsite" quat="0. 0.70710678118 0.70710678118 0."/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<!-- Prevent contact between the base and the first body when the base is a direct child of the worldbody. -->
<contact>
<exclude body1='b_base' body2='b_1'/>
</contact>
</mujoco>
| 41.532468 | 112 | 0.562852 |
609ed115748df0a1231ee7e66793c4848207b231 | 18,777 | xml | XML | metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_ffg.xml | russellmendonca/metaworld | 1b392b11816dd26ce80ec265397a884aabd89dbd | [
"MIT"
] | null | null | null | metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_ffg.xml | russellmendonca/metaworld | 1b392b11816dd26ce80ec265397a884aabd89dbd | [
"MIT"
] | null | null | null | metaworld/envs/assets_v1/sawyer_xyz/sawyer_xyz_base_ffg.xml | russellmendonca/metaworld | 1b392b11816dd26ce80ec265397a884aabd89dbd | [
"MIT"
] | null | null | null | <?xml version="1.0" encoding="utf-8"?>
<!--
Usage:
<mujoco>
<compiler meshdir="../meshes/sawyer" ...></compiler>
<include file="shared_config.xml"></include>
(new stuff)
<worldbody>
<include file="sawyer_xyz_base.xml"></include>
(new stuff)
</worldbody>
</mujoco>
-->
<mujoco model="sawyer">
<camera pos="0 0 3.2" name="topview" />
<!--<geom name="floor" type="plane" pos="0 0 -.9" size="10 10 10"-->
<!--rgba="0 0 0 1" contype="15" conaffinity="15" />-->
<!--<geom name="tableTop" type="box" pos="0 0.6 -0.45" size="0.4 0.2 0.45"
rgba=".6 .6 .5 1" contype="15" conaffinity="15" />-->
<geom name="tableTop" type="plane" pos="0 0.6 0" size="0.4 0.4 0.5"
rgba=".6 .6 .5 1" contype="1" conaffinity="1" friction="2 0.1 0.002" material="light_wood_v3"/>
<body name="base" pos="0 0 0">
<site name="basesite" pos="0 0 0" size="0.01" />
<inertial pos="0 0 0" mass="0" diaginertia="0 0 0" />
<body name="controller_box" pos="0 0 0">
<inertial pos="-0.325 0 -0.38" mass="46.64" diaginertia="1.71363 1.27988 0.809981" />
<geom size="0.11 0.2 0.265" pos="-0.325 0 -0.38" type="box" rgba="0.2 0.2 0.2 1"/>
</body>
<body name="pedestal_feet" pos="0 0 0">
<inertial pos="-0.1225 0 -0.758" mass="167.09" diaginertia="8.16095 9.59375 15.0785" />
<geom size="0.385 0.35 0.155" pos="-0.1225 0 -0.758" type="box" rgba="0.2 0.2 0.2 1"
contype="0"
conaffinity="0"
/>
</body>
<body name="torso" pos="0 0 0">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.05 0.05 0.05" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" />
</body>
<body name="pedestal" pos="0 0 0">
<inertial pos="0 0 0" quat="0.659267 -0.259505 -0.260945 0.655692" mass="60.864" diaginertia="6.0869 5.81635 4.20915" />
<geom pos="0.26 0.345 -0.91488" quat="0.5 0.5 -0.5 -0.5" type="mesh" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 1" mesh="pedestal" />
<geom size="0.18 0.31" pos="-0.02 0 -0.29" type="cylinder" rgba="0.2 0.2 0.2 0" />
</body>
<body name="right_arm_base_link" pos="0 0 0">
<inertial pos="-0.0006241 -2.8025e-05 0.065404" quat="-0.209285 0.674441 0.227335 0.670558" mass="2.0687" diaginertia="0.00740351 0.00681776 0.00672942" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="base" />
<geom size="0.08 0.12" pos="0 0 0.12" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_l0" pos="0 0 0.08">
<inertial pos="0.024366 0.010969 0.14363" quat="0.894823 0.00899958 -0.170275 0.412573" mass="5.3213" diaginertia="0.0651588 0.0510944 0.0186218" />
<joint name="right_j0" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0503 3.0503" damping="10"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l0" />
<geom size="0.07" pos="0.08 0 0.23" rgba="0.5 0.1 0.1 0" />
<body name="head" pos="0 0 0.2965">
<inertial pos="0.0053207 -2.6549e-05 0.1021" quat="0.999993 7.08405e-05 -0.00359857 -0.000626247" mass="1.5795" diaginertia="0.0118334 0.00827089 0.00496574" />
<!-- <joint name="head_pan" pos="0 0 0" axis="0 0 1" limited="true" range="-5.0952 0.9064" damping="10"/> -->
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="head" />
<geom size="0.18" pos="0 0 0.08" rgba="0.5 0.1 0.1 0" />
<body name="screen" pos="0.03 0 0.105" quat="0.5 0.5 0.5 0.5">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.12 0.07 0.001" type="box" contype="0" conaffinity="0" group="1" rgba="0.2 0.2 0.2 0" />
<geom size="0.001" rgba="0.2 0.2 0.2 0" />
</body>
<body name="head_camera" pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813">
<inertial pos="0.0228027 0 0.216572" quat="0.342813 -0.618449 0.618449 -0.342813" mass="0" diaginertia="0 0 0" />
<site name="headsite" pos="0 0 0" size="0.01" />
</body>
</body>
<body name="right_torso_itb" pos="-0.055 0 0.22" quat="0.707107 0 -0.707107 0">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
</body>
<body name="right_l1" pos="0.081 0.05 0.237" quat="0.5 -0.5 0.5 0.5">
<inertial pos="-0.0030849 -0.026811 0.092521" quat="0.424888 0.891987 0.132364 -0.0794296" mass="4.505" diaginertia="0.0224339 0.0221624 0.0097097" />
<!--<joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.8095 2.2736" damping="10"/>-->
<joint name="right_j1" pos="0 0 0" axis="0 0 1"
limited="true" range="-3.8 -0.5"
damping="10"/>
<!--<joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="0.8095 2.2736" damping="10"/>-->
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l1" />
<geom size="0.07" pos="0 0 0.1225" rgba="0.5 0.1 0.1 0" />
<body name="right_l2" pos="0 -0.14 0.1425" quat="0.707107 0.707107 0 0">
<inertial pos="-0.00016044 -0.014967 0.13582" quat="0.707831 -0.0524761 0.0516007 0.702537" mass="1.745" diaginertia="0.0257928 0.025506 0.00292515" />
<joint name="right_j2" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0426 3.0426" damping="10"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l2" />
<geom size="0.06 0.17" pos="0 0 0.08" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_l3" pos="0 -0.042 0.26" quat="0.707107 -0.707107 0 0">
<site name="armsite" pos="0 0 0" size="0.01" />
<inertial pos="-0.0048135 -0.0281 -0.084154" quat="0.902999 0.385391 -0.0880901 0.168247" mass="2.5097" diaginertia="0.0102404 0.0096997 0.00369622" />
<joint name="right_j3" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0439 3.0439" damping="10"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l3" />
<geom size="0.06" pos="0 -0.01 -0.12" rgba="0.5 0.1 0.1 0" />
<body name="right_l4" pos="0 -0.125 -0.1265" quat="0.707107 0.707107 0 0">
<inertial pos="-0.0018844 0.0069001 0.1341" quat="0.803612 0.031257 -0.0298334 0.593582" mass="1.1136" diaginertia="0.0136549 0.0135493 0.00127353" />
<joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l4" />
<geom size="0.045 0.15" pos="0 0 0.11" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_arm_itb" pos="-0.055 0 0.075" quat="0.707107 0 -0.707107 0">
<inertial pos="0 0 0" mass="0.0001" diaginertia="1e-08 1e-08 1e-08" />
</body>
<body name="right_l5" pos="0 0.031 0.275" quat="0.707107 -0.707107 0 0">
<inertial pos="0.0061133 -0.023697 0.076416" quat="0.404076 0.9135 0.0473125 0.00158335" mass="1.5625" diaginertia="0.00474131 0.00422857 0.00190672" />
<joint name="right_j5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.9761 2.9761" damping="10"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.5 0.1 0.1 1" mesh="l5" />
<geom size="0.06" pos="0 0 0.1" rgba="0.5 0.1 0.1 0" />
<body name="right_hand_camera" pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0">
<inertial pos="0.039552 -0.033 0.0695" quat="0.707107 0 0.707107 0" mass="0" diaginertia="0 0 0" />
</body>
<body name="right_wrist" pos="0 0 0.10541" quat="0.707107 0.707107 0 0">
<inertial pos="0 0 0.10541" quat="0.707107 0.707107 0 0" mass="0" diaginertia="0 0 0" />
</body>
<body name="right_l6" pos="0 -0.11 0.1053" quat="0.0616248 0.06163 -0.704416 0.704416">
<inertial pos="-8.0726e-06 0.0085838 -0.0049566" quat="0.479044 0.515636 -0.513069 0.491322" mass="0.3292" diaginertia="0.000360258 0.000311068 0.000214974" />
<joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-4.7124 4.7124" damping="10"/>
<geom type="mesh" contype="4" conaffinity="2" group="1" rgba="0.5 0.1 0.1 1" mesh="l6" />
<geom size="0.055 0.025" pos="0 0.015 -0.01" type="cylinder" rgba="0.5 0.1 0.1 0" />
<body name="right_hand" pos="0 0 0.0245" quat="0.707107 0 0 0.707107">
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.035 0.014" pos="0 0 0.015" type="cylinder" rgba="0 0 0 1"/>
<!-- <geom size="0.035 0.015" pos="0 0 0.02" type="cylinder" rgba="0.2 0.2 0.2 0"/> -->
<!-- ================= BEGIN GRIPPER ================= /-->
<!-- <body name="hand" pos="0 0 0"
quat="-1 0 1 0">
<geom class="1" name="Geomclaw" type="box" size="0.01 0.04 0.01"/>
<body name="rightclaw" pos=".03 -.03 0.0" >
<inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>
<geom
name="rightclaw_it" condim="4" contype="2" conaffinity="2" class="1" mass="0.08" type="box" pos="0 0 0" size="0.025 0.005 0.02" rgba="0.0 1.0 0.0 1.0" friction="1 0.05 0.01"
euler="0 0 0.2"
/>
<joint name="rc_close" type="slide" pos="0 0 0" axis="0 1 0" range="0 .04" user="008" limited="true"/>
<site name="endeffector2" pos=".015 .01 0" size="0.008" rgba="0.0 0.0 0.0 0.0" />
</body>
<body name="leftclaw" pos=".03 .03 0">
<inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>
<geom
name="leftclaw_it" condim="4" contype="2" conaffinity="2" class="1" type="box" mass="0.08" pos="0 0 0" size="0.025 0.005 0.02" rgba="0.0 1.0 0.0 1.0" friction="1 0.05 0.01"
euler="0 0 -0.2"
/>
<joint name="lc_close" type="slide" pos="0 0 0" axis="0 -1 0" range="-.04 0" user="008" limited="true"/>
<site name="endeffector" pos=".015 -.01 0" size="0.008" rgba="0.0 0.0 0.0 0.0" />
</body>
</body> -->
<body name="hand" pos="0 0 0.12">
<geom type="mesh" contype="1" conaffinity="1" group="1" rgba="0.5 0.1 0.1 1" pos= "0 0 -0.09" quat="0 0 0 1" mesh="eGripperBase" />
<body name="grippers" pos="0 0 0" quat="-1 0 1 0">
<site name="endEffector" pos="0.04 0 0" size="0.01" rgba='1 1 1 0' />
<geom name="rail" type="box" pos="-0.05 0 0" density="7850" size="0.005 0.055 0.005" rgba="0.5 0.5 0.5 1.0" condim="3" friction="2 0.1 0.002" />
<!--IMPORTANT: For rougher contact with gripper, set higher friciton values for the other interacting objects -->
<body name="rightclaw" pos="0 -0.05 0" >
<geom name="rightclaw_it" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="1 1 1 1.0" />
<joint name="r_close" pos="0 0 0" axis="0 1 0" range= "0 0.04" armature="100" damping="1000" limited="true" type="slide"/>
<!-- <joint name="r_close" pos="0 0 0" axis="0 1 0" range= "0 0.03" armature="100" damping="1000" limited="true" type="slide"/> -->
<!-- <site name="rightEndEffector" pos="0.0 0.005 0" size="0.044 0.008 0.012" type='box' /> -->
<!-- <site name="rightEndEffector" pos="0.035 0 0" size="0.01" rgba="1.0 0.0 0.0 1.0"/> -->
<site name="rightEndEffector" pos="0.045 0 0" size="0.01" rgba="1.0 0.0 0.0 0.0"/>
<body name="rightpad" pos ="0 .003 0" >
<geom name="rightpad_geom" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="1 1 1 1.0" solimp="0.9 0.9 0.01" solref="0.01 1" friction="2 0.1 0.002" contype="1" conaffinity="1"/>
</body>
</body>
<body name="leftclaw" pos="0 0.05 0">
<geom name="leftclaw_it" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="1 1 1 1.0" />
<joint name="l_close" pos="0 0 0" axis="0 1 0" range= "-0.03 0" armature="100" damping="1000" limited="true" type="slide"/>
<!-- <site name="leftEndEffector" pos="0.0 -0.005 0" size="0.044 0.008 0.012" type='box' /> -->
<!-- <site name="leftEndEffector" pos="0.035 0 0" size="0.01" rgba="1.0 0.0 0.0 1.0"/> -->
<site name="leftEndEffector" pos="0.045 0 0" size="0.01" rgba="1.0 0.0 0.0 0.0"/>
<body name="leftpad" pos ="0 -.003 0" >
<geom name="leftpad_geom" condim="4" margin="0.001" type="box" user="0" pos="0 0 0" size="0.045 0.003 0.015" rgba="1 1 1 1.0" solimp="0.9 0.9 0.01" solref="0.01 1" friction="2 0.1 0.002" contype="1" conaffinity="1" />
</body>
</body>
</body>
</body>
<!-- ================= END GRIPPER ================= /-->
</body>
</body>
</body>
<body name="right_l4_2" pos="0 0 0">
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.06" pos="0 0.01 0.26"
rgba="0.2 0.2 0.2 0"
contype="0"
conaffinity="0"
/>
</body>
</body>
</body>
<body name="right_l2_2" pos="0 0 0">
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.06" pos="0 0 0.26" rgba="0.2 0.2 0.2 0"
contype="0"
conaffinity="0"
/>
</body>
</body>
<body name="right_l1_2" pos="0 0 0">
<inertial pos="1e-08 1e-08 1e-08" quat="0.820473 0.339851 -0.17592 0.424708" mass="1e-08" diaginertia="1e-08 1e-08 1e-08" />
<geom size="0.07 0.07" pos="0 0 0.035" type="cylinder" rgba="0.2 0.2 0.2 0"/>
</body>
</body>
</body>
</body>
</body>
<body mocap="true" name="mocap" pos="0 0 0">
<!--For debugging, set the alpha to 1-->
<!--<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0.5 0.5 0.5 1" size="0.1 0.02 0.02" type="box"></geom>-->
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0.0 0.5 0.5 0" size="0.01" type="sphere"></geom>
<site name="mocap" pos="0 0 0" rgba="0.0 0.5 0.5 0" size="0.01" type="sphere"></site>
</body>
</mujoco>
| 83.084071 | 274 | 0.431166 |
609f2a0c334b557032b64035f2b1192ee11ae9fb | 2,717 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5061_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5061_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5061_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/506/506.stl" name="obj0" scale="0.006148268255707092 0.006148268255707092 0.006148268255707092" />
</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="0.015445627251707183 0.04 0.036578654718941915" 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="-0.001797071586700783 0.02179503121183435 0.010512952912542058" size="0.03303592071762951 0.035071709099977345 0.04071179546302564" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="1.4208749904712993e-05 0.021960114169771935 -0.014753215298776401" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.001797071586700783 0.02179503121183435 0.0005129529125420564" 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 | 0.656975 |
609fba5f7190445dd9b8d3d8cfede142e6633c40 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7114_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7114_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7114_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/711/711.stl" name="obj0" scale="0.009344824545225455 0.009344824545225455 0.009344824545225455" />
</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="0.02937649790585301 0.0582091270231739 0.22811753043623434">
<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 |
60a02d5fdeb58243da2a5e3080bba221c41409fd | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7420_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7420_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7420_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/742/742.stl" name="obj0" scale="0.00515054479378376 0.00515054479378376 0.00515054479378376" />
</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="0.028790257761052776 0.05129783462774497 0.03764579802206934">
<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="0.00033031327942803306 -0.020777259413034523 -0.01310858805806202" rgba="1 0 0 0" size="0.014395128880526388 0.025648917313872484 0.01882289901103467" 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 | 199 | 0.669875 |
60a05038da00e906a707460e359cd57ea6cb9f3b | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3669_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3669_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3669_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/366/366.stl" name="obj0" scale="0.007376050995066161 0.007376050995066161 0.007376050995066161" />
</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="0.011384905206680639 0.04 0.008205366224619932" 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="-0.001583855757951561 -0.0018589043760649723 0.050929672620976627" size="0.011115634234039136 0.010020016344892186 0.057777125595059" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.001507491075740757 -0.0021606217338500087 0.0013579132505375552" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.001583855757951561 -0.0018589043760649723 0.040929672620976625" 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 | 222 | 0.65687 |
60a16d808717e0c0d91a791c7c6b70118416c16e | 1,451 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2039_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2039_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2039_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/203/203.stl" name="obj0" scale="0.00410234662167757 0.00410234662167757 0.00410234662167757" />
</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="0.03126910128121531 0.03656345445371386 0.2332375425677347">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.184211 | 155 | 0.617505 |
60a2c8db561b95ccc6e698f72581d3285b654196 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3232_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3232_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3232_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/323/323.stl" name="obj0" scale="0.008675090727426093 0.008675090727426093 0.008675090727426093" />
</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="0.02824135447141682 0.053389188939614945 0.02565250353372078">
<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="-0.00046457934181949633 -0.00033287197899571955 -0.000318293252031043" rgba="1 0 0 0" size="0.01412067723570841 0.026694594469807473 0.01282625176686039" 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 | 202 | 0.670429 |
60a3488f0e1e775f247eff44a75246e41530f9b4 | 2,714 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4596_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4596_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4596_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/459/459.stl" name="obj0" scale="0.005122241000926869 0.005122241000926869 0.005122241000926869" />
</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="0.038311535209900466 0.04 0.02566754197228304" 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="-0.02350524208771189 -0.03374170984686986 0.02865676965684099" size="0.029147722422851935 0.029626312839970977 0.04017776654553342" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.017147292401022512 -0.027527109176919275 0.014146545083590612" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.02350524208771189 -0.03374170984686986 0.018656769656840988" 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> | 50.259259 | 220 | 0.655859 |
60a386875819c9223cdf1d4f8256e894c542c7de | 1,452 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2653_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2653_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2653_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/265/265.stl" name="obj0" scale="0.01190508595420432 0.01190508595420432 0.01190508595420432" />
</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="0.028494019638086135 0.07106924398685964 0.2341194049006238">
<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 |
60a619441a4889112abe521429ce33b749a846be | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6632_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6632_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6632_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/663/663.stl" name="obj0" scale="0.004418731432832484 0.004418731432832484 0.004418731432832484" />
</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="0.028637418405284106 0.029681047651284778 0.22918629996767625">
<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 |
60a70e5258c57086bff7fa2c2bb947c6b3d0afb5 | 1,451 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6953_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6953_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6953_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/695/695.stl" name="obj0" scale="0.01329217400401658 0.01329217400401658 0.01329217400401658" />
</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="0.008168479567210321 0.0742824304918754 0.2336617793486458">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.184211 | 155 | 0.617505 |
60a8555118afd6ba03d47727c4070c5067cc8af1 | 690 | xml | XML | gym_kuka_mujoco/envs/assets/kuka/kuka_actuators.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/kuka/kuka_actuators.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/kuka/kuka_actuators.xml | hzm2016/gym-kuka-mujoco | a8a40bb08a1a1a269a2386ca0d102d62d8384206 | [
"MIT"
] | 14 | 2019-05-21T08:56:43.000Z | 2021-12-31T04:23:29.000Z | <mujoco>
<motor name="kuka_joint_1" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_1"/>
<motor name="kuka_joint_2" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_2"/>
<motor name="kuka_joint_3" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_3"/>
<motor name="kuka_joint_4" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_4"/>
<motor name="kuka_joint_5" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_5"/>
<motor name="kuka_joint_6" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_6"/>
<motor name="kuka_joint_7" ctrllimited="true" ctrlrange="-300.0 300.0" joint="kuka_joint_7"/>
</mujoco> | 76.666667 | 95 | 0.727536 |
60ac21bec07c6394467278531a653ba7acc73417 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9276_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9276_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9276_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/927/927.stl" name="obj0" scale="0.004250449269645758 0.004250449269645758 0.004250449269645758" />
</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="0.021735405542832598 0.027085847705991695 0.21222184809117117">
<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 |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.