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 |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
00c72fde52a8a15b89a6e4bd5e072157ef8f6297 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5947_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5947_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5947_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/594/594.stl" name="obj0" scale="0.016022280362551947 0.016022280362551947 0.016022280362551947" />
</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="0.02234897417589229 0.08447511793634185 0.23286906727256082">
<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 |
00cba8e3b6c1b36fc7093b4b138ffe9be15440bb | 109,197 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_016_pear_3_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_016_pear_3_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_016_pear_3_0.9_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/016_pear/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.289402017407969 1.289402017407969 1.289402017407969"/><mesh class="geom0" file="ycb_objects/061_foam_brick/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.6407860843754389 0.6407860843754389 0.6407860843754389"/><mesh class="geom0" file="ycb_objects/009_gelatin_box/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.3881372936398142 1.3881372936398142 1.3881372936398142"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.3464409784280666 1.3464409784280666 1.3464409784280666"/><mesh class="geom0" file="ycb_objects/055_baseball/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.7355177618073792 1.7355177618073792 1.7355177618073792"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_6" scale="1.105381022690696 1.105381022690696 1.105381022690696"/></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 0.16588972551891923" name="gen_body_0" pos="-0.05 -0.35 0.30017899999511427"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.019475942040216854 0.14072744876033394 0.9362006225690502 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.631730944002393" name="gen_body_gadded_1" pos="-0.004983649653653423 -0.24675869629550323 0.3005342261556363"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.590287887796892 0.531572671318161 0.7148930196990533 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.867078809604772" name="gen_body_gadded_2" pos="-0.36362747084905533 -0.7560962845248334 0.3007640179259083"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.9101072539913392 0.40875189781415744 0.3835211187285631 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 2.4727891436888894" name="gen_body_gadded_3" pos="0.06907331396842159 -0.05370210043971663 0.3006883161421644"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.4934407481189711 0.2633752138171769 0.9695795886493032 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.0599731087538755" name="gen_body_gadded_4" pos="-0.23559244935403345 -0.7896314516845526 0.30018908298457686"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.5422132189638358 0.38580487629249105 0.8411194497302753 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 5.980769326305372" name="gen_body_gadded_5" pos="-0.29198984923761767 -0.18654874016886464 0.3003310427435883"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.06809886502247509 0.9123119886307223 0.1847367594079058 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 0.23349412976514164" name="gen_body_gadded_6" pos="0.19885231851307278 -0.5075858244529752 0.2992695200727388"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.7409874541884793 0.3167024057873935 0.7460059201934164 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 | 0.694094 |
00cd642a71981dfe3452d5028d47126708f5f300 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6020_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6020_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6020_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/602/602.stl" name="obj0" scale="0.005966225792411736 0.005966225792411736 0.005966225792411736" />
</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="0.013175541576688524 0.04 0.011760000811406707" 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="-6.036152720117734e-05 -0.018448000979070008 0.03348641877607114" size="0.011299717726271172 0.012256732634688187 0.04410869905354367" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0013177297575615718 -0.018306020656194907 0.0011377205339341743" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-6.036152720117734e-05 -0.018448000979070008 0.02348641877607114" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.656135 |
00cde0be6a74f492de6992a28d13bffe61ef0e88 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3846_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3846_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3846_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/384/384.stl" name="obj0" scale="0.009768339957334699 0.009768339957334699 0.009768339957334699" />
</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="0.03904471417241391 0.06363777013085851 0.02999237888144191">
<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="-0.0020140320207847557 -0.002410649599239764 0.000704747763483898" rgba="1 0 0 0" size="0.019522357086206955 0.03181888506542926 0.014996189440720955" 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 | 199 | 0.670249 |
00ce002e476f584d4eec87ba701667e13e8fe97c | 90,239 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_021_bleach_cleanser_4_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_021_bleach_cleanser_4_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/hard_pushing_021_bleach_cleanser_4_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/maytoni/scene.stl" name="gen_mesh_gadded_1" scale="1.5915470241441303 1.5915470241441303 1.5915470241441303"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.6499645473849647 1.6499645473849647 1.6499645473849647"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 2.940937638601585" name="gen_body_0" pos="0 0 0.300452000007499"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.496114351978692 0.2957763486475292 0.48152122270581577 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.199759397833599" name="gen_body_gadded_1" pos="0.180550961276926 -0.08680818319234082 0.7329365428746974"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.763486958838831 0.8741969831226998 0.13017497001185052 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.5358442887173918" name="gen_body_gadded_2" pos="0.1680327482680198 0.2885275828183645 0.3005010171566039"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3638050530901846 0.6264610461858635 0.36342434832007586 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> | 131.928363 | 10,958 | 0.688461 |
00ceab8c078892da9dc3111f0fd8ecc60e0c3dc2 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4744_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4744_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4744_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/474/474.stl" name="obj0" scale="0.018412277631986145 0.018412277631986145 0.018412277631986145" />
</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="0.02067260565864403 0.1115543744275263 0.015419177780130479">
<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="-0.001192618645434408 -0.01916016587743145 -0.0013474708124622387" rgba="1 0 0 0" size="0.010336302829322014 0.05577718721376315 0.007709588890065239" 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 | 199 | 0.669683 |
00cef95a5e5a0e126e38b169173a7eec60884d2f | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3927_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3927_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3927_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/392/392.stl" name="obj0" scale="0.006574066016277881 0.006574066016277881 0.006574066016277881" />
</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="0.01112991677478951 0.04 0.00838502069474894" 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="-0.0005406909431975185 0.0009220635399796719 0.04335786313030288" size="0.010174858202920864 0.01014188775912828 0.05171004047075212" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-4.793277872815518e-07 0.0004477975510063407 3.284335429970184e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0005406909431975185 0.0009220635399796719 0.03335786313030288" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.351852 | 222 | 0.656859 |
00cf157ace2447485f9e0fc2f814777381bb6b24 | 10,494 | xml | XML | data/T2D1/rcd/t2d1.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | 2 | 2020-02-24T00:15:39.000Z | 2020-09-02T03:20:46.000Z | data/T2D1/rcd/t2d1.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | null | null | null | data/T2D1/rcd/t2d1.xml | rwang0417/d2c_mujoco200 | 84609fbb14dc38dadf35193d0c7c4431e6f22913 | [
"MIT"
] | 3 | 2019-08-05T20:21:04.000Z | 2020-09-02T03:20:49.000Z | <mujoco model="t1d1">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<option timestep="0.01" iterations="50" solver="Newton" tolerance="1e-10" gravity = "0 0 0" collision="predefined" viscosity="0.0"/>
<size njmax="50" nconmax="40" nstack="3000"/>
<visual>
<rgba haze=".15 .25 .35 1"/>
</visual>
<default>
<joint type="hinge" pos="0 0 0" axis="0 1 0" limited="false" range="-180 180" damping="0.1"/>
<motor ctrllimited="false" ctrlrange="-1 1" gear="1"/>
<tendon stiffness="0" damping="0.2" width="0.02"/>
<geom size="0.02" mass="0.1" material="self"/>
<site size="0.04"/>
</default>
<worldbody>
<geom name="floor" pos="0 0 0" size="0 0 1" type="plane" material="grid"/>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<site name="f2" pos="0 0 0"/>
<site name="f1" pos="-4 0 0"/>
<site name="f3" pos="4 0 0"/>
<site name="target" pos="-1 0 6" size="0.08" rgba="1 0 0 .3"/>
<body pos="0 0 0">
<geom name="lbar1" type="capsule" fromto="0 0 0 -0.8 0 0.6" />
<site name="lb1e" pos="-0.8 0 0.6"/>
<joint name="lj1"/>
<body name="lbar2" pos="-0.8 0 0.6">
<geom name="lbar2" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="lj2"/>
<site name="lb2e" pos="0.8 0 0.6"/>
<body pos="0.8 0 0.6">
<geom name="lbar3" type="capsule" fromto="0 0 0 -1 0 0"/>
<joint name="lj3"/>
<site name="lb3e" pos="-1 0 0"/>
</body>
<body pos="0.8 0 0.6">
<geom name="lbar4" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="lj4"/>
<site name="lb4e" pos="-0.8 0 0.6"/>
<body name="lbar5" pos="-0.8 0 0.6">
<geom name="lbar5" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="lj5"/>
<site name="lb5e" pos="0.8 0 0.6"/>
<body pos="0.8 0 0.6">
<geom name="lbar6" type="capsule" fromto="0 0 0 -2 0 0"/>
<joint name="lj6"/>
<site name="lb6e" pos="-2 0 0"/>
</body>
<body pos="0.8 0 0.6">
<geom name="lbar7" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="lj7"/>
<site name="lb7e" pos="-0.8 0 0.6"/>
<body name="lbar8" pos="-0.8 0 0.6">
<geom name="lbar8" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="lj8"/>
<site name="lb8e" pos="0.8 0 0.6"/>
<body pos="0.8 0 0.6">
<geom name="lbar9" type="capsule" fromto="0 0 0 -1 0 0"/>
<joint name="lj9"/>
<site name="lb9e" pos="-1 0 0"/>
</body>
<body pos="0.8 0 0.6">
<geom name="lbar10" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="lj10"/>
<site name="lb10e" pos="-0.8 0 0.6"/>
<body name="lbar11" pos="-0.8 0 0.6">
<geom name="lbar11" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="lj11"/>
<site name="lb11e" pos="0.8 0 0.6"/>
</body>
</body>
<body pos="0.8 0 0.6">
<geom name="rbar9" type="capsule" fromto="0 0 0 1 0 0"/>
<joint name="rj9"/>
<site name="rb9e" pos="1 0 0"/>
</body>
</body>
</body>
<body pos="0.8 0 0.6">
<geom name="rbar6" type="capsule" fromto="0 0 0 2 0 0"/>
<joint name="rj6"/>
<site name="rb6e" pos="2 0 0"/>
</body>
</body>
</body>
<body pos="0.8 0 0.6">
<geom name="rbar3" type="capsule" fromto="0 0 0 1 0 0"/>
<joint name="rj3"/>
<site name="rb3e" pos="1 0 0"/>
</body>
</body>
</body>
<body pos="0 0 0">
<geom name="rbar1" type="capsule" fromto="0 0 0 0.8 0 0.6" />
<site name="rb1e" pos="0.8 0 0.6"/>
<joint name="rj1"/>
<body name="rbar2" pos="0.8 0 0.6">
<geom name="rbar2" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="rj2"/>
<site name="rb2e" pos="-0.8 0 0.6"/>
<body pos="-0.8 0 0.6">
<geom name="rbar4" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="rj4"/>
<site name="rb4e" pos="0.8 0 0.6"/>
<body name="rbar5" pos="0.8 0 0.6">
<geom name="rbar5" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="rj5"/>
<site name="rb5e" pos="-0.8 0 0.6"/>
<body pos="-0.8 0 0.6">
<geom name="rbar7" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="rj7"/>
<site name="rb7e" pos="0.8 0 0.6"/>
<body name="rbar8" pos="0.8 0 0.6">
<geom name="rbar8" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="rj8"/>
<site name="rb8e" pos="-0.8 0 0.6"/>
<body pos="-0.8 0 0.6">
<geom name="rbar10" type="capsule" fromto="0 0 0 0.8 0 0.6"/>
<joint name="rj10"/>
<site name="rb10e" pos="0.8 0 0.6"/>
<body name="rbar11" pos="0.8 0 0.6">
<geom name="rbar11" type="capsule" fromto="0 0 0 -0.8 0 0.6"/>
<joint name="rj11"/>
<site name="rb11e" pos="-0.8 0 0.6"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<equality>
<connect active="true" name='c1' body1='lbar2' body2='rbar2' anchor='0.8 0 0.6'/>
<connect active="true" name='c2' body1='lbar5' body2='rbar5' anchor='0.8 0 0.6'/>
<connect active="true" name='c3' body1='lbar8' body2='rbar8' anchor='0.8 0 0.6'/>
<connect active="true" name='c4' body1='lbar11' body2='rbar11' anchor='0.8 0 0.6'/>
</equality>
<tendon>
<spatial name="S1">
<site site="f2"/>
<site site="rb2e"/>
</spatial>
<spatial name="S2">
<site site="rb1e"/>
<site site="lb1e"/>
</spatial>
<spatial name="S3">
<site site="lb2e"/>
<site site="lb5e"/>
</spatial>
<spatial name="S4">
<site site="rb4e"/>
<site site="lb4e"/>
</spatial>
<spatial name="S5">
<site site="f2"/>
<site site="lb3e"/>
</spatial>
<spatial name="S6">
<site site="f2"/>
<site site="rb3e"/>
</spatial>
<spatial name="S7">
<site site="lb5e"/>
<site site="lb3e"/>
</spatial>
<spatial name="S8">
<site site="rb5e"/>
<site site="rb3e"/>
</spatial>
<spatial name="S9">
<site site="lb5e"/>
<site site="lb8e"/>
</spatial>
<spatial name="S10">
<site site="rb7e"/>
<site site="lb7e"/>
</spatial>
<spatial name="S11">
<site site="lb8e"/>
<site site="lb11e"/>
</spatial>
<spatial name="S12">
<site site="rb10e"/>
<site site="lb10e"/>
</spatial>
<spatial name="S13">
<site site="lb5e"/>
<site site="lb9e"/>
</spatial>
<spatial name="S14">
<site site="lb5e"/>
<site site="rb9e"/>
</spatial>
<spatial name="S15">
<site site="lb9e"/>
<site site="lb11e"/>
</spatial>
<spatial name="S16">
<site site="rb9e"/>
<site site="rb11e"/>
</spatial>
<spatial name="S17">
<site site="f2"/>
<site site="lb6e"/>
</spatial>
<spatial name="S18">
<site site="f2"/>
<site site="rb6e"/>
</spatial>
<spatial name="S19">
<site site="lb6e"/>
<site site="lb11e"/>
</spatial>
<spatial name="S20">
<site site="rb6e"/>
<site site="rb11e"/>
</spatial>
<spatial name="S21">
<site site="f1"/>
<site site="lb6e"/>
</spatial>
<spatial name="S22">
<site site="f3"/>
<site site="rb6e"/>
</spatial>
</tendon>
<actuator>
<motor tendon="S1"/>
<motor tendon="S2"/>
<motor tendon="S3"/>
<motor tendon="S4"/>
<motor tendon="S5"/>
<motor tendon="S6"/>
<motor tendon="S7"/>
<motor tendon="S8"/>
<motor tendon="S9"/>
<motor tendon="S10"/>
<motor tendon="S11"/>
<motor tendon="S12"/>
<motor tendon="S13"/>
<motor tendon="S14"/>
<motor tendon="S15"/>
<motor tendon="S16"/>
<motor tendon="S17"/>
<motor tendon="S18"/>
<motor tendon="S19"/>
<motor tendon="S20"/>
<motor tendon="S21"/>
<motor tendon="S22"/>
</actuator>
</mujoco>
| 38.43956 | 136 | 0.392796 |
00d00056fa15dc2d8415b0a05e6fdf3ef5eb5794 | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3124_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3124_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3124_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/312/312.stl" name="obj0" scale="0.00810931319513056 0.00810931319513056 0.00810931319513056" />
</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="0.028740212840205615 0.05820296954075397 0.22650756889529208">
<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 |
00d0250cad5757db5321f4844af4c27dd56a7088 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9933_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9933_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9933_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/993/993.stl" name="obj0" scale="0.005228680377350953 0.005228680377350953 0.005228680377350953" />
</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="0.025505395692770213 0.039404943142932816 0.23397824479667104">
<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 |
00daa819bcbe6cda437ed67348073f773257549b | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1904_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1904_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1904_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/190/190.stl" name="obj0" scale="0.016962840699507292 0.016962840699507292 0.016962840699507292" />
</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="0.01879124833566648 0.10005147378262533 0.2350162224275859">
<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 |
00dd06a8fe028220b9dce6d69d729c9df1d7ba0e | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6844_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6844_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6844_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/684/684.stl" name="obj0" scale="0.009809601641863085 0.009809601641863085 0.009809601641863085" />
</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="0.02033659416619808 0.07619951901854698 0.029746714495598753">
<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="7.987677969344737e-05 -0.00027318449274707263 0.0003095800194656346" rgba="1 0 0 0" size="0.01016829708309904 0.03809975950927349 0.014873357247799377" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670621 |
00dd238fd0885011e6d39c62f5e14319a5544082 | 1,775 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6636_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6636_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6636_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/663/663.stl" name="obj0" scale="0.0039509611037789015 0.0039509611037789015 0.0039509611037789015" />
</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="0.025605839130936135 0.026538988977309948 0.026096615666364238">
<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="0.0032843046918814003 -0.006486494801697886 0.0032720624561101727" rgba="1 0 0 0" size="0.012802919565468068 0.013269494488654974 0.013048307833182119" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.292683 | 200 | 0.672113 |
00dfb880a404a79a0108e9d142f0185c7114a1a2 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4514_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4514_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4514_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/451/451.stl" name="obj0" scale="0.023982136337919117 0.023982136337919117 0.023982136337919117" />
</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="0.033420114236616484 0.1472925256747781 0.23989812093994253">
<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 |
00e0572ff5f507bd731baafd507553ab6e1d71e9 | 1,766 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3493_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3493_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3493_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/349/349.stl" name="obj0" scale="0.00523952429949026 0.00523952429949026 0.00523952429949026" />
</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="0.02563640295092215 0.03683946211641698 0.014363390896504822">
<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="0.006109056708448426 -0.0038221865174749964 0.0005793373705027164" rgba="1 0 0 0" size="0.012818201475461075 0.01841973105820849 0.007181695448252411" 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 | 0.670442 |
00e0de669db38aa625f9283cef27b17d15df41a7 | 1,458 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6355_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6355_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6355_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/635/635.stl" name="obj0" scale="0.0061184906022785195 0.0061184906022785195 0.0061184906022785195" />
</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="0.037616428215638216 0.05259197239188789 0.2288851432752422">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco> | 38.368421 | 155 | 0.619342 |
00e5a69e0c0b421f68736d11e2cfe735b554e197 | 6,827 | xml | XML | dm_control/suite/rope_sac.xml | wilson1yan/dm_control | 9b908bb501643a1152cc95b9dfa29b96fd3e7061 | [
"Apache-2.0"
] | 8 | 2019-10-07T03:37:02.000Z | 2022-01-19T18:36:27.000Z | dm_control/suite/rope_sac.xml | bilkitty/dm_control | 9b908bb501643a1152cc95b9dfa29b96fd3e7061 | [
"Apache-2.0"
] | null | null | null | dm_control/suite/rope_sac.xml | bilkitty/dm_control | 9b908bb501643a1152cc95b9dfa29b96fd3e7061 | [
"Apache-2.0"
] | 6 | 2019-10-24T18:43:38.000Z | 2022-01-12T23:50:30.000Z |
<mujoco>
<!-- <default class="main">-->
<!-- <geom rgba="1 0 0 1"/>-->
<!--<!– <geom rgba="255 255 255 1"/>–>-->
<!-- <default class="sub">-->
<!-- <geom rgba="0 1 0 1"/>-->
<!-- </default>-->
<!-- </default>-->
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="background" builtin="flat" type="2d" mark="random" markrgb="1 1 1" width="800" height="800" rgb1=".2 .3 .4"/>
<material name="background" texture="background" texrepeat="1 1" texuniform="true"/>
<!-- <texture name="textablecenter" type="2d" file="table_center_10.png"/>-->
<!-- <material name="tablecenter" texture="textablecenter" />-->
</asset>
<default>
<geom rgba="255 255 255 1"/>
<default class="sub">
<geom rgba="0 1 0 1"/>
</default>
</default>
<worldbody>
<camera name="fixed" pos="0 0 .73" quat="1 0 0 0"/>
<light name="light" directional="true" diffuse="0 .0 .0" pos="0 0 .5" specular="0 .0 .0"/>
<geom name="ground" type="plane" pos="0 0 0" size=".6 .6 .1" rgba="0.18 0.545 0.341 1"/>
<geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0" size=".02 .3 .02" rgba="1 1 1 1"/>
<geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0" size=".3 .02 .02" rgba="1 1 1 1"/>
<geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0" size=".02 .3 .02" rgba="1 1 1 1"/>
<geom name="wall_neg_y" type="plane" pos="0 .3 .02" zaxis="0 -1 0" size=".3 .02 .02" rgba="1 1 1 1"/>
<!-- <geom name="target" pos="0 0 .01" type="sphere" size=".06" rgba=".6 .3 .3 1"/>-->
<!-- ================= SWIMMER ================= /-->
<body name="B10" pos="0 0 0">
<camera name="track" mode="trackcom" pos="0 -1 1" xyaxes="1 0 0 0 1 1" />
<!-- <joint type="slide" pos="0 0 1" name="slider1" axis="0 0 1"/>-->
<freejoint name="r1"/>
<!-- <composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">-->
<composite type="rope" count="25 1 1" spacing="0.02" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<!-- rgba="0.8 0.2 0.1 1-->
<!-- <skin rgba="0.6 1 0.6 1" texcoord="true" inflate="0.005" subgrid="2"/>-->
<!-- <geom type="capsule" size=".01 .015" rgba=" 1. 0 0 1"/>-->
<geom type="capsule" size=".008 .01" rgba=" 1 0.871 0.678 1"/>
<!-- <pin coord="1" />-->
<!-- <pin coord="2" />-->
<!-- <pin coord="3" />-->
<!-- <pin coord="4" />-->
<!-- <pin coord="5" />-->
<!-- <pin coord="6" />-->
<!-- <pin coord="7" />-->
<!-- <pin coord="21"/>-->
</composite>
<!-- <body name="head" pos="-1 0 1">-->
<!-- <geom density="30" fromto="0 0 0 -1 0 0" size="0.04" type="capsule"/>-->
<!-- <joint type="slide" name="slider1" axis="0 0 1"/>-->
<!-- </body>-->
</body>
<body name="obs1">
<geom conaffinity="1" contype="1" pos=".1 .1 0.015" size="0.03 0.03 0.03" rgba="1.0 0.0 0.0 1" type="box" />
</body>
<body name="obs2">
<geom conaffinity="1" contype="1" pos="-.1 .1 0.015" size="0.03 0.03 0.03" rgba="1.0 0.0 0.0 1" type="box" />
</body>
<body name="obs3">
<geom conaffinity="1" contype="1" pos=".1 -.1 0.015" size="0.03 0.03 0.03" rgba="1.0 0.0 0.0 1" type="box" />
</body>
<body name="obs4">
<geom conaffinity="1" contype="1" pos="-.1 -.1 0.015." size="0.03 0.03 0.03" rgba="1.0 0.0 0.0 1" type="box" />
</body>
<!-- <body name="torso" pos="0 0 0">-->
<!-- <geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>-->
<!-- <joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>-->
<!-- <joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>-->
<!-- <joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>-->
<!-- <body name="mid" pos="0.5 0 0">-->
<!-- <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>-->
<!-- <joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>-->
<!-- <body name="back" pos="-1 0 0">-->
<!-- <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>-->
<!-- <joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>-->
<!-- </body>-->
<!-- </body>-->
<!-- </body>-->
</worldbody>
<sensor>
</sensor>
<actuator>
<motor ctrllimited="true" ctrlrange="-1 1" gear="10.0" joint="r1"/>
<!-- <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>-->
<!-- <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="r1"/>-->
</actuator>
<!-- <worldbody>-->
<!-- <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1" directional="true" exponent="1" pos="0 0 0.0" specular=".1 .1 .1"/>-->
<!-- <geom rgba="0.1 0.1 .1 1." conaffinity="1" density='0.' contype="1" condim="1" name="table" pos="0 0.0 0." size="2.8 2.8 0.1" type="plane" />-->
<!-- <body name="B10" pos="0 0 1">-->
<!-- <freejoint/>-->
<!-- <composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">-->
<!-- <joint kind="main" damping="0.005" />-->
<!-- <geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>-->
<!-- </composite>-->
<!-- </body>-->
<!-- <body name="back" pos="-1 0 0">-->
<!-- <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>-->
<!-- <joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>-->
<!-- </body>-->
<!-- </worldbody>-->
<!-- <actuator>-->
<!-- <general joint="rot3" ctrlrange="-1 1" ctrllimited="True"/>-->
<!-- </actuator>-->
</mujoco>
<!-- # rope object-->
<!-- </body>-->
<!-- <composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">-->
<!-- <skin texcoord="true" material="mathammock" inflate="0.01" subgrid="3"/>-->
<!-- <pin coord="0 0"/>-->
<!-- <pin coord="10 0"/>-->
<!-- <pin coord="0 8"/>-->
<!-- <pin coord="10 8"/>-->
<!-- <geom size=".095"/>-->
<!-- <joint kind="main" damping="10"/>-->
<!-- </composite>-->
<!--</mujoco>-->
| 48.41844 | 156 | 0.476344 |
00e6cb0e513fdcc999cdb8e3415e2249de80321a | 17,446 | xml | XML | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581904736_8596604/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581904736_8596604/model.xml | clj003/mod_surreal2 | 1c91ed1d85acdb8b82dae46c49153d547301d2d9 | [
"MIT"
] | null | null | null | robosuite/scripts/~/Robotics/1581903573_7626145/ep_1581904736_8596604/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="0.021589241989741575 0.02187086300060892 0.02154143599364403" 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> | 84.280193 | 424 | 0.586667 |
00e8f35491f8a467a9f4642284790d838269d6a7 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7441_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7441_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7441_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/744/744.stl" name="obj0" scale="0.013728977942339736 0.013728977942339736 0.013728977942339736" />
</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="0.02725702542800436 0.08799333053152926 0.037373991647582164">
<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="0.0020310024761666747 -0.009935671868222896 0.00013424619383905047" rgba="1 0 0 0" size="0.01362851271400218 0.04399666526576463 0.018686995823791082" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 199 | 0.671001 |
00e957faee1978780f227ee3c5605f9b9092eba7 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/961_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/961_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/961_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/096/096.stl" name="obj0" scale="0.008006160483171822 0.008006160483171822 0.008006160483171822" />
</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="0.02790949545973818 0.05856427132451404 0.02056411542588446">
<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="-0.0014899765523845037 -0.0011655423398552669 -0.00027356186597423407" rgba="1 0 0 0" size="0.01395474772986909 0.02928213566225702 0.01028205771294223" 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 | 201 | 0.670056 |
00ec0d25a2883894ff12e612956117fbdceab9ef | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4274_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4274_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4274_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/427/427.stl" name="obj0" scale="0.004158113693121171 0.004158113693121171 0.004158113693121171" />
</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="0.024302802358774515 0.026313928101930586 0.02321762616337114">
<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="0.0019143255725199225 -0.001391923588306591 0.000502567914356678" rgba="1 0 0 0" size="0.012151401179387258 0.013156964050965293 0.01160881308168557" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 198 | 0.671001 |
00eca89edb66e22fc53d092edbc3965f185e06ad | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8017_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8017_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8017_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/801/801.stl" name="obj0" scale="0.0041850652598151294 0.0041850652598151294 0.0041850652598151294" />
</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="0.014693140552487206 0.04 0.02176099594509027" 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="-0.005152064040397781 -0.008858525626360737 0.02947335247810465" size="0.011193543801634145 0.014744070389844845 0.04210006281577772" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0014456463251003922 -0.0018921210294195795 0.002066430214814137" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.005152064040397781 -0.008858525626360737 0.01947335247810465" 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 |
00ecaf64c52d24d8d9642604200c72d05f874ea3 | 94,758 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_potted_plant_3_0_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_potted_plant_3_0_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_potted_plant_3_0_0.4_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="downloaded_assets/potted_plant_3/scene.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/cup_1/scene.stl" name="gen_mesh_gadded_1" scale="1.9886063279361157 1.9886063279361157 1.9886063279361157"/><mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.7832181424322948 0.7832181424322948 0.7832181424322948"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.6437679595481955 1.6437679595481955 1.6437679595481955"/></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 4.869380279575852" name="gen_body_0" pos="-0.05 -0.35 0.41421426385641097"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.8224261990621554 0.44971620740069895 0.6139687083280331 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.16139321305652626" name="gen_body_gadded_1" pos="0.12565193217760312 -0.11242884440555223 0.6857400902925108"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.39242520351121557 0.9146012729840953 0.7342180595771551 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.11958081608033902" name="gen_body_gadded_2" pos="-0.15282942160014576 -0.2528613893171631 0.30014941975485154"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5645428208156393 0.5381081056993756 0.27580574531092716 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 4.497815248583361" name="gen_body_gadded_3" pos="-0.09555264417274344 -0.04879976609677733 0.3002308371378972"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.14985167652056264 0.7120030157051137 0.8159454166647313 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<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"/></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> | 138.535088 | 14,960 | 0.69 |
00ed626580e86f5bc63aca43268f78593356fc80 | 1,775 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2131_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2131_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2131_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/213/213.stl" name="obj0" scale="0.0049635607387780115 0.0049635607387780115 0.0049635607387780115" />
</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="0.023605719533943054 0.03790283930289106 0.017845470069885627">
<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="0.0007893440758575365 -0.0021075270118697093 1.6198873637805504e-05" rgba="1 0 0 0" size="0.011802859766971527 0.01895141965144553 0.008922735034942814" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.292683 | 201 | 0.671549 |
00ed73f347515df15eaf061a629743fb37b0e7ee | 1,765 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4717_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4717_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4717_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/471/471.stl" name="obj0" scale="0.005874386823512186 0.005874386823512186 0.005874386823512186" />
</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="0.029247341310227645 0.04218527883070924 0.02573543607517348">
<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="0.009862072035099683 -0.025734209000088357 0.00478765956038875" rgba="1 0 0 0" size="0.014623670655113823 0.02109263941535462 0.01286771803758674" 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> | 43.04878 | 195 | 0.670255 |
00edcf4d4921c99627454a1e681eff6ee089d7b8 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4758_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4758_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4758_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/475/475.stl" name="obj0" scale="0.005716640153366022 0.005716640153366022 0.005716640153366022" />
</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="0.009973507660369264 0.04 0.01662720517607466" 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="-0.0010187491191878523 -0.024169245887294924 0.04074767912569018" size="0.012219445460800026 0.01620810522081652 0.04612650444743704" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.00038060183106521426 -0.02441359323711104 0.004594682338622409" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0010187491191878523 -0.024169245887294924 0.03074767912569018" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.351852 | 222 | 0.656491 |
00f1134c2c3f67b47658685a1224e34650430554 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/525_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/525_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/525_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/052/052.stl" name="obj0" scale="0.006041051176380407 0.006041051176380407 0.006041051176380407" />
</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="0.033313029351707116 0.03636690154239094 0.21116019867641253">
<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 |
00f2a715b224452d7dccd29bc8c50223fb242f88 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4624_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4624_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4624_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/462/462.stl" name="obj0" scale="0.008045557335472468 0.008045557335472468 0.008045557335472468" />
</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="0.015884339824644624 0.049089513508395806 0.02403024939676244">
<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="0.0007311944210797826 -0.006790827693512417 -0.00197918705458546" rgba="1 0 0 0" size="0.007942169912322312 0.024544756754197903 0.01201512469838122" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.146341 | 198 | 0.670435 |
00f45cc931c0173801540d2f67c6d82c888aceff | 96,379 | xml | XML | herb_reconf/cluttered_scenes/grasping_cardboard_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/grasping_cardboard_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/grasping_cardboard_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="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/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.507536853356481 1.507536853356481 1.507536853356481"/><mesh class="geom0" file="ycb_objects/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.668179319344812 1.668179319344812 1.668179319344812"/><mesh class="geom0" file="ycb_objects/007_tuna_fish_can/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.8737060842505495 1.8737060842505495 1.8737060842505495"/><mesh class="geom0" file="downloaded_assets/potted_plant_2/scene.stl" name="gen_mesh_gadded_4" scale="1.0677680665086362 1.0677680665086362 1.0677680665086362"/></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 0.9940003999440681" name="gen_body_0" pos="0 0 0.3561653412878513"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3377250882252252 0.10449598629399959 0.10717100514376787 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.872921822548761" name="gen_body_gadded_1" pos="-0.18074586379891355 0.5499272964774817 0.3000393297099349"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.6919057997312427 0.1518571827609153 0.6046821607219018 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.617096161140846" name="gen_body_gadded_2" pos="0.11670313076096876 0.26736493585101373 0.314738265594238"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5209592898700665 0.9126202764870477 0.6137854920800583 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 3.9583154203653828" name="gen_body_gadded_3" pos="0.23786666617135882 -0.01766776019465653 0.30628567041773525"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9947673635337902 0.70029949596191 0.9958383925367635 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.51588946633668" name="gen_body_gadded_4" pos="-0.03333982617068316 -0.23307350759249312 0.39457375549911083"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.5144033800244273 0.9362965801972667 0.8705866874365942 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" /> -->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 151.301413 | 19,113 | 0.689445 |
00f631dd122686caa8f24bd28ea75e396be87b42 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8582_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8582_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8582_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/858/858.stl" name="obj0" scale="0.005594882986936735 0.005594882986936735 0.005594882986936735" />
</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="0.013156191104967645 0.037885794905106 0.23319747598551607">
<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 |
00f6aa1f4db9ae9df0f382318b3cfb2847b4a883 | 106,157 | xml | XML | herb_reconf/cluttered_scenes/grasping_019_pitcher_base_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/grasping_019_pitcher_base_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/grasping_019_pitcher_base_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="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/019_pitcher_base/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/vase_2/scene.stl" name="gen_mesh_gadded_1" scale="1.2743648969439731 1.2743648969439731 1.2743648969439731"/><mesh class="geom0" file="ycb_objects/036_wood_block/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.0484124503157912 1.0484124503157912 1.0484124503157912"/><mesh class="geom0" file="ycb_objects/008_pudding_box/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="1.0395139708750938 1.0395139708750938 1.0395139708750938"/><mesh class="geom0" file="ycb_objects/008_pudding_box/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.3138609171252564 1.3138609171252564 1.3138609171252564"/><mesh class="geom0" file="ycb_objects/056_tennis_ball/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="0.7688989524377045 0.7688989524377045 0.7688989524377045"/><mesh class="geom0" file="downloaded_assets/potted_plant_3/scene.stl" name="gen_mesh_gadded_6" scale="0.6507389655884224 0.6507389655884224 0.6507389655884224"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="cam_target"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="table"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" name="table_plane" pos="0 0 0.3" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.6999996 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.3499998 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="0 0 0.45">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>
<body name="box_0" pos="0.175 0.0 0.3725">
<geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.0546134792989" name="gen_body_0" pos="0 0 0.30282200006768106"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.051758929606153026 0.12492630379800751 0.868250353967598 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.4943021747423115" name="gen_body_gadded_1" pos="0.2486613822248293 -0.05701056984114495 0.5253225653706749"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.2902470592931726 0.3337296408400935 0.1794808543309847 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.9896345310524532" name="gen_body_gadded_2" pos="0.3980666282627736 0.22754881107534405 0.3002247591900684"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8519142300537066 0.5805075864102989 0.9259830837764971 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 3.6404652626156766" name="gen_body_gadded_3" pos="0.1570251151407622 -0.14916939990623815 0.30060867835537164"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.829421967581586 0.4698354562060303 0.25784847362764385 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 2.641084356447131" name="gen_body_gadded_4" pos="-0.023566430511067566 0.5313577282330553 0.3007693198383006"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.6621673169005698 0.20814113071053153 0.5295349663009548 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 3.297715446718665" name="gen_body_gadded_5" pos="0.5505843881278071 -0.005919186005083941 0.30007363810084997"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.916136252224575 0.5040589622651572 0.4103330199728733 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 1.0748517939716955" name="gen_body_gadded_6" pos="-0.14580167982217074 0.18147652586043 0.3796225906489854"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.05056544078469183 0.9435783281280737 0.9701293743748264 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" type="free"/></body></worldbody>
<contact>
<!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<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="-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> | 166.651491 | 27,872 | 0.692371 |
00f7424e85454fad5aa53f2613b46bfb113a641b | 1,448 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5321_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5321_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5321_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/532/532.stl" name="obj0" scale="0.0067480514342829 0.0067480514342829 0.0067480514342829" />
</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="0.02562457477891977 0.04061655194918023 0.2393988491977353">
<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> | 38.105263 | 155 | 0.616713 |
00f79da2b13b5ec47e0fdd43c887761d99e45cc9 | 2,723 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3660_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3660_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3660_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="-0.0014119275549145682 -0.0023359664475313515 0.0470520358631836" size="0.010855935099763509 0.011125908347745529 0.053899488837265974" 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="-0.0014119275549145682 -0.0023359664475313515 0.0370520358631836" 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 | 0.656996 |
00fa04451dae3074781d281946fb6fff0a863ce5 | 1,548 | xml | XML | env/cart_pole.xml | aidanscannell/pilco-tensorflow | 7ecde3b0302922fba1b1dbcecaa1078235049d8e | [
"MIT"
] | 11 | 2020-04-27T04:07:08.000Z | 2021-04-28T13:46:16.000Z | env/cart_pole.xml | aidanscannell/pilco-tensorflow | 7ecde3b0302922fba1b1dbcecaa1078235049d8e | [
"MIT"
] | 1 | 2020-05-30T06:27:09.000Z | 2020-05-30T06:27:09.000Z | env/cart_pole.xml | aidanscannell/pilco-tensorflow | 7ecde3b0302922fba1b1dbcecaa1078235049d8e | [
"MIT"
] | 2 | 2020-09-09T01:28:41.000Z | 2021-04-28T13:46:22.000Z | <mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<!--<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>-->
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 10" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-10 10" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-360 360" type="hinge"/>
<!--<geom fromto="0 0 0 0.001 0 -0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>-->
<geom fromto="0 0 0 0.001 0 -0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>
| 51.6 | 258 | 0.580103 |
00fd2d5c98b6420df85e19df068e5f718d24b3e0 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8768_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8768_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8768_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/876/876.stl" name="obj0" scale="0.0044359892025804815 0.0044359892025804815 0.0044359892025804815" />
</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="0.01856143642653566 0.04 0.0089330686304643" 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="-0.0016266823133164032 0.006616340746295377 0.040108856716122965" size="0.01373370329706173 0.010273782704222436 0.04882405284273999" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0007280254453679606 -0.001548944921508419 0.00021787250384727735" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0016266823133164032 0.006616340746295377 0.030108856716122963" 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 | 0.657605 |
00fee943a838d027c9ea6251e3d0434142a700bc | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6811_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6811_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6811_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/681/681.stl" name="obj0" scale="0.005896593013253773 0.005896593013253773 0.005896593013253773" />
</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="0.038794316369648994 0.04566312784574202 0.03467805809851488">
<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="0.011461458614397735 -0.022291811029203523 -0.0007366851210058036" rgba="1 0 0 0" size="0.019397158184824497 0.02283156392287101 0.01733902904925744" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.121951 | 198 | 0.670249 |
00fef017a7d767c263d9748d9273e7dba378c9e5 | 79,304 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_012_strawberry_2_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_012_strawberry_2_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/easy_pushing_012_strawberry_2_0.1_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/>
<size nconmax="10000" njmax="10000"/>
<visual>
<global offheight="800" offwidth="800"/>
<quality shadowsize="2048"/>
<headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/>
<map force="0.1" zfar="30.0"/>
<rgba haze="0.1499999 0.25 0.3499998 1"/>
</visual>
<statistic center="0.2 0 0.5" extent="10.0"/>
<default>
<default class="/"/>
<default class="geom0">
<geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/>
</default>
<default class="herb/">
<joint damping="1.0"/>
<default class="herb/viz">
<geom conaffinity="0" contype="0" group="1"/>
</default>
</default>
<default class="herb/wam/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
</default>
<default class="herb/wam/bhand/">
<joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam/bhand/col">
<geom conaffinity="1" contype="0" group="0" type="mesh"/>
</default>
<default class="herb/wam/bhand/viz">
<geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/>
</default>
</default>
<default class="herb/wam_1/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/viz">
<geom conaffinity="0" contype="0" group="1" type="mesh"/>
</default>
<default class="herb/wam_1/col">
<geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" -->
</default>
</default>
<default class="herb/wam_1/bhand/">
<joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/>
<default class="herb/wam_1/bhand/col">
<geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- -->
</default>
<default class="herb/wam_1/bhand/viz">
<geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- -->
</default>
</default>
</default>
<asset>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/>
<texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/>
<material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/>
<material class="/" name="concretecube" rgba="0.8 0.8 0.8 1" texture="concretecube"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marble2d" type="2d"/>
<texture file="marble-e5eaaff46b3aaec59944d7330fab7172f95cd8f2.png" name="marblecube" type="cube"/>
<material class="/" name="marble_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="marble2d"/>
<material class="/" name="marblecube" rgba="0.8 0.8 0.8 1" texture="marblecube"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplain_2d" type="2d"/>
<texture file="concreteplain-371aafd0ba788c3d3517b7c74a383d92e5897f53.png" name="concreteplaincube" type="cube"/>
<material class="/" name="concreteplain_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concreteplain_2d"/>
<material class="/" name="concreteplaincube" rgba="0.8 0.8 0.8 1" texture="concreteplaincube"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="wood2d" type="2d"/>
<texture file="wood-dca777828fadc82ffe5b5005a448db092b2054fb.png" name="woodcube" type="cube"/>
<material class="/" name="wood2d" reflectance="0.0" rgba="1 1 1 1" texture="wood2d"/>
<material class="/" emission="1.0" name="woodcube" texture="woodcube"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_2d" type="2d"/>
<texture file="concrete2-241aa4b6b647b116a7363537e0b2c602ff16d0ac.png" name="concrete2_cube" type="cube"/>
<material class="/" name="concrete2_2d" reflectance="0.0" rgba="1 1 1 1" texture="concrete2_2d"/>
<material class="/" name="concrete2_cube" rgba="0.8 0.8 0.8 1" texture="concrete2_cube"/>
<texture builtin="flat" height="1024" mark="random" markrgb="0.79000000 0.79000000 0.7399999" name="wall_2d" random="0.3" rgb1="0.8199995 0.8199995 0.78000000" type="2d" width="1024"/>
<material class="/" name="wall" texture="wall_2d"/>
<!--<mesh name="mustard" class="/" file="ycb_objects/006_mustard_bottle/google_16k/textured.msh"/>
<texture name="mustard_tex" type="2d" file="ycb_objects/006_mustard_bottle/google_16k/texture_map.png"/>
<material name="mustard_mat" class="/" texture="mustard_tex"/>-->
<mesh class="herb/" file="herb_frame-d14ef2a9b97c77acae48435d827d17e822b5ea0d.STL" name="herb/herb_frame"/>
<mesh class="herb/" file="herb_frame_collision-f9b6358d74932455b7ffbfd9ca74dac0fccda711.STL" name="herb/herb_frame_collision"/>
<mesh class="herb/" file="herb_neobotix_base-a561bd542e4323d6590a35700af93bfe91294ed7.STL" name="herb/herb_neobotix_base"/>
<mesh class="herb/" file="herb_neobotix_base_collision-c0b781e9f306e864c10c17c836695c4558f03ae7.STL" name="herb/herb_neobotix_base_collision"/>
<mesh class="herb/" file="herb_neck_pan-3a5b595404c4fd221df9b6e9fa45f42ae8d6c2d1.STL" name="herb/herb_neck_pan"/>
<mesh class="herb/" file="herb_neck_pan_collision-422bb9327b7695a812f7e778849056ef7beb989a.STL" name="herb/herb_neck_pan_collision"/>
<mesh class="herb/" file="herb_neck_tilt-90115c2f4d254a0b190e723f5619cc119886c40b.STL" name="herb/herb_neck_tilt"/>
<mesh class="herb/" file="herb_neck_tilt_collision-484db3edd8836293ddbd41a57393c8610e785d3a.STL" name="herb/herb_neck_tilt_collision"/>
<mesh class="herb/" file="herb_crl_head-8d1a14390ba99fea74706e0a42bb4c69de03fda1.STL" name="herb/herb_crl_head"/>
<mesh class="herb/" file="herb_crl_head_collision-7e48d4cab14a84937a24657df25f3c1493b9d4f0.STL" name="herb/herb_crl_head_collision"/>
<mesh class="herb/" file="herb_kinect-f35f6b9c60f6d5c915f951d7862137deeec3b982.STL" name="herb/herb_kinect"/>
<mesh class="herb/" file="herb_kinect_collision-fc0c5ad2fd441c0e68282241313155effd1beedd.STL" name="herb/herb_kinect_collision"/>
<mesh class="herb/wam/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam/base_link_fine"/>
<mesh class="herb/wam/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam/base_link_convex"/>
<mesh class="herb/wam/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam/shoulder_link_fine"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam/shoulder_pitch_link_fine"/>
<mesh class="herb/wam/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam/shoulder_pitch_link_convex"/>
<mesh class="herb/wam/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam/upper_arm_link_fine"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam/elbow_link_fine"/>
<mesh class="herb/wam/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam/elbow_link_convex"/>
<mesh class="herb/wam/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam/forearm_link_fine"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam/wrist_yaw_link_fine"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam/wrist_pitch_link_fine"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam/wrist_palm_link_fine"/>
<mesh class="herb/wam/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam/wrist_palm_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam/bhand/bhand_palm_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam/bhand/bhand_finger_dist_link_convex"/>
<mesh class="herb/wam_1/" file="base_link_fine-41a147148eb8dd232dfab0184aee072e64b55281.stl" name="herb/wam_1/base_link_fine"/>
<mesh class="herb/wam_1/" file="base_link_convex-241a02f0fe0e1f2c3855b352df6e69b26ab5b1b2.stl" name="herb/wam_1/base_link_convex"/>
<mesh class="herb/wam_1/" file="shoulder_link_fine-70a80ea5cf6a9c11a96b4c55087f2c8f2c020d97.stl" name="herb/wam_1/shoulder_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p1-b99c0e22423c21ede02982f896bc789bdae3b5ff.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p2-2b3a517d82b2e4f2469d55f41baed0468e780436.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="shoulder_link_convex_decomposition_p3-e4f646ee6b98165b5a010a5f12ebfd92128fb41b.stl" name="herb/wam_1/shoulder_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_fine-36aee65354a741fe81ccf9d2614e6e43d67f3c55.stl" name="herb/wam_1/shoulder_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="shoulder_pitch_link_convex-f05b3e597235abed137d821b96ff7d1e2a82ea31.stl" name="herb/wam_1/shoulder_pitch_link_convex"/>
<mesh class="herb/wam_1/" file="upper_arm_link_fine-ca01ee6d48649ad9f6baea7259d5cf9d08b3d635.stl" name="herb/wam_1/upper_arm_link_fine"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p1-7ea03e3ea97d649eedea55dc3de0ea10bbb87283.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="upper_arm_link_convex_decomposition_p2-25fc59a045c74cc0c5e901bc31501e8ca212159a.stl" name="herb/wam_1/upper_arm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="elbow_link_fine-105c4e016f6a319ed74f5d55377fee15774c5d58.stl" name="herb/wam_1/elbow_link_fine"/>
<mesh class="herb/wam_1/" file="elbow_link_convex-618d49f47d28f374d03b62f3a4f1a11c87b40044.stl" name="herb/wam_1/elbow_link_convex"/>
<mesh class="herb/wam_1/" file="forearm_link_fine-e78631019336cb810525911769f36184d30c291c.stl" name="herb/wam_1/forearm_link_fine"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p1-57f1e443a9d84a9b1e59b719541351dbc72b0c65.stl" name="herb/wam_1/forearm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="forearm_link_convex_decomposition_p2-6249b0eb91291b6e61d4566ef7bddcd133aeb11d.stl" name="herb/wam_1/forearm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_fine-3ec69f37eedc74a0b8a6edd994a49a13dec2a554.stl" name="herb/wam_1/wrist_yaw_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p1-483314d477ecff523b1f17f1b29cc860dda3b25f.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_yaw_link_convex_decomposition_p2-963f6bf6f5f239543cf4bbf0630fd7e3253cbd4a.stl" name="herb/wam_1/wrist_yaw_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_fine-06a8aff3e76c7b3ff34cdaf40c9ed5950e2ad1fe.stl" name="herb/wam_1/wrist_pitch_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p1-3328df36bd7e249a571d0cfb2e43ac0cf17b9b77.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p2-91c5869923c13020ad406e859d49bf3f795c96be.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/" file="wrist_pitch_link_convex_decomposition_p3-744bd1df4bb176ceef61c79ab12a5b9de038d171.stl" name="herb/wam_1/wrist_pitch_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_fine-db9db06e50f8f189c8d475b09f86be267e38a874.stl" name="herb/wam_1/wrist_palm_link_fine"/>
<mesh class="herb/wam_1/" file="wrist_palm_link_convex-d455a798d573176ecdc3c9794069b0e3f4f7f623.stl" name="herb/wam_1/wrist_palm_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_fine-dff1351ac0d212f9757a6bc04b85287b4f13403a.stl" name="herb/wam_1/bhand/bhand_palm_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p1-f8ba6cc8e8efbe24c938e092f61618174769428c.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p2-0a66a02812a929ee040991e6d1a7b1d11bba7bb1.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p3-9d93e72f01b43aa200deff06df4a395d3eb5312a.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_palm_link_convex_decomposition_p4-e38e089a001a0010eec12bebd2368162120ee6a2.stl" name="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_fine-b325b78dd2ffcab9984efe22434207b1d2e07e28.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p1-12071ca7dea820f8ba395c17ad58efbdd2b805a8.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p2-c728b40c271300b132049560287e0844b86833ed.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_prox_link_convex_decomposition_p3-561559fcb477ac41797bbd8b0da5e960b41f0363.stl" name="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_fine-31e862bb0515137229a05ffa049a96de151eb229.stl" name="herb/wam_1/bhand/bhand_finger_med_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_med_link_convex-af5d2e0e2990df27924df077b297d046b710ded5.stl" name="herb/wam_1/bhand/bhand_finger_med_link_convex"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_fine-defe6db5320e79d25ade307bc4a42d6ef272b8d4.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_fine"/>
<mesh class="herb/wam_1/bhand/" file="bhand_finger_dist_link_convex-dd89f87a37ef6bb33ec5f1998f123eb1e907ddef.stl" name="herb/wam_1/bhand/bhand_finger_dist_link_convex"/>
<mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="ycb_objects/013_apple/google_16k/nontextured.stl" name="gen_mesh_gadded_1" scale="1.9742863321248623 1.9742863321248623 1.9742863321248623"/><mesh class="geom0" file="ycb_objects/057_racquetball/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.9944135400673519 0.9944135400673519 0.9944135400673519"/></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 3.567126322644283" name="gen_body_0" pos="-0.05 -0.35 0.3002169999934267"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.475559721399758 0.807080322374988 0.5979815613661832 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.446403629925076" name="gen_body_gadded_1" pos="0.08577488150273302 -0.35 0.30095378832515896"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.29770692468914295 0.5475254723783343 0.3411530507051197 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.5613517299869053" name="gen_body_gadded_2" pos="-0.2297593725878407 -0.25820286371102663 0.300189710848794"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.11332352248454058 0.5376437362083025 0.6418630319611655 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.94152 | 948 | 0.685892 |
2e0079702e3030a0b4c7e4a852c35143cd05eeee | 1,771 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3940_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3940_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3940_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/394/394.stl" name="obj0" scale="0.006001862515800276 0.006001862515800276 0.006001862515800276" />
</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="0.031050536694761214 0.053406658312815096 0.02958343842046774">
<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="-0.0013381143407695212 -0.015229114984171831 0.0014398261936077476" rgba="1 0 0 0" size="0.015525268347380607 0.026703329156407548 0.01479171921023387" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.195122 | 200 | 0.670807 |
2e0488947995536377fab65cbcc44804bfaf3a20 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1125_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1125_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1125_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/112/112.stl" name="obj0" scale="0.004808718784202012 0.004808718784202012 0.004808718784202012" />
</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="0.037632869708726285 0.04 0.018496924343465625" 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="-0.00848648909985984 0.002217553579289485 0.03803601472512104" size="0.013474759462841124 0.01984118976341376 0.05664314583370576" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.00026734628175038974 -0.009264104669841362 -0.00011020676511910259" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.00848648909985984 0.002217553579289485 0.028036014725121034" 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 | 219 | 0.656859 |
2e05fcc49b8bc6fb9b96c56893e975b88382df6b | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4561_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4561_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4561_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/456/456.stl" name="obj0" scale="0.005252044056718671 0.005252044056718671 0.005252044056718671" />
</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="0.022684880787894008 0.03830329123277272 0.018549985892369822">
<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="0.0007969987557953235 -0.00800268717071504 -0.0001217653735331042" rgba="1 0 0 0" size="0.011342440393947004 0.01915164561638636 0.009274992946184911" 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 |
2e084470c7be566b674213e6f6e5bac9dc1be2d6 | 1,769 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9882_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9882_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9882_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/988/988.stl" name="obj0" scale="0.00404349724012614 0.00404349724012614 0.00404349724012614" />
</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="0.027661237096426473 0.030157837858380998 0.024037276955946863">
<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="-0.016521057794907743 -0.010761938469343127 -0.009581605813232922" rgba="1 0 0 0" size="0.013830618548213236 0.015078918929190499 0.012018638477973432" 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 | 0.66987 |
2e0874f1225848a0db75fdb9738656cdb3e68250 | 10,177 | xml | XML | safety_multi_agent_mujoco/safety_ma_mujoco/safety_multiagent_mujoco/assets/humanoid.xml | JuntaoDai/Safe-Multi-Agent-Mujoco | ad04807a0dc7ff116f8c47c015144094260cdb09 | [
"MIT"
] | 13 | 2021-10-20T20:02:27.000Z | 2022-03-28T05:58:01.000Z | safety_multi_agent_mujoco/safety_ma_mujoco/safety_multiagent_mujoco/assets/humanoid.xml | JuntaoDai/Safe-Multi-Agent-Mujoco | ad04807a0dc7ff116f8c47c015144094260cdb09 | [
"MIT"
] | null | null | null | safety_multi_agent_mujoco/safety_ma_mujoco/safety_multiagent_mujoco/assets/humanoid.xml | JuntaoDai/Safe-Multi-Agent-Mujoco | ad04807a0dc7ff116f8c47c015144094260cdb09 | [
"MIT"
] | 3 | 2022-02-14T04:04:19.000Z | 2022-03-15T09:22:34.000Z | <mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="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">
<!-- <flags solverstat="enable" energy="enable"/>-->
</option>
<size nkey="5" nuser_geom="1"/>
<visual>
<map fogend="5" fogstart="3"/>
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
<!-- <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"/>
<material name="geom" texture="texgeom" texuniform="true"/>
<texture builtin="checker" height="100" name="texplane" rgb1="#2c5987" rgb2="#1f4060" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
</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 condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="30 0 0" rgba="0.2 0.2 0.2 1" size="70 25 0.125" type="plane"/>
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
<body name="torso" pos="0 0 1.4">
<camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
<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="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
<body name="right_thigh" pos="0 -0.1 -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="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
<body name="right_shin" pos="0 0.01 -0.403">
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
<body name="right_foot" pos="0 0 -0.45">
<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 0.1 -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="-110 20" stiffness="20" type="hinge"/>
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
<body name="left_shin" pos="0 -0.01 -0.403">
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
<body name="left_foot" pos="0 0 -0.45">
<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"/>
<camera pos="0 0 0"/>
</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>
<body name='b1' pos="0 2.3 1" euler='0 0 30'>
<freejoint name="b1_fj"/>
<geom conaffinity="1" condim="3" name="wall1" type="box" density=".000001" size="20 0.01 .7" rgba="1 0.5 0.5 1"/>
</body>
<body name='b2' pos="0 -2.3 1" euler='0 0 30'>
<freejoint name="b2_fj"/>
<geom conaffinity="1" condim="3" name="wall2" type="box" density=".000001" size="20 0.01 .7" rgba="1 0.5 0.5 1"/>
</body>
<body name='b3' pos="40 2.3 1" euler='0 0 -30'>
<freejoint name="b3_fj"/>
<geom conaffinity="1" condim="3" name="wall3" type="box" density=".000001" size="20 0.01 .7" rgba="1 0.5 0.5 1"/>
</body>
<body name='b4' pos="40 -2.3 1" euler='0 0 -30'>
<freejoint name="b4_fj"/>
<geom conaffinity="1" condim="3" name="wall4" type="box" density=".000001" size="20 0.01 .7" rgba="1 0.5 0.5 1"/>
</body>
<body name='b5' pos="80 2.3 1" euler='0 0 30'>
<freejoint name="b5_fj"/>
<geom conaffinity="1" condim="3" name="wall5" type="box" density=".000001" size="20 0.01 .7" rgba="1 0.5 0.5 1"/>
</body>
<body name='b6' pos="80 -2.3 1" euler='0 0 30'>
<freejoint name="b6_fj"/>
<geom conaffinity="1" condim="3" name="wall6" type="box" density=".000001" size="20 0.01 .7" rgba="1 0.5 0.5 1"/>
</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> | 68.763514 | 167 | 0.528741 |
2e08bb12cdaa215163b8de65e678d20519b964ba | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6485_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6485_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6485_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/648/648.stl" name="obj0" scale="0.003645099783594816 0.003645099783594816 0.003645099783594816" />
</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="0.017438419811902018 0.02913522789377661 0.22599658191921426">
<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 |
2e08d3c396a49a5af6283570532cd691c48232f3 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2966_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2966_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2966_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/296/296.stl" name="obj0" scale="0.005705180653475671 0.005705180653475671 0.005705180653475671" />
</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="0.013225692739080766 0.04 0.029077448754462786" 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="-0.0023091776942034876 0.00911523424851746 0.03855823348813061" size="0.023923601311504786 0.013386446566850408 0.05212216385193217" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-5.421747407420328e-05 -3.2873026443194655e-05 -0.0003382376247207927" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0023091776942034876 0.00911523424851746 0.028558233488130608" 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 | 221 | 0.656503 |
2e0a7630affd7ee5e8c7bffc2b5e17cd58200ced | 2,720 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7648_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7648_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7648_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/764/764.stl" name="obj0" scale="0.0054849125482115246 0.0054849125482115246 0.0054849125482115246" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.01871564876402638 0.04 0.011447700844642252" zaxis="0.0 0.0 1.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" />
<geom condim="3" mass="2" material="block_mat" pos="0.0029432981833652262 0.010307886098133129 0.03369370287709178" size="0.013767160941388414 0.018002598819537117 0.04549297482726893" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0011583590359369707 0.009963921077795547 -0.0003515711055349034" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0029432981833652262 0.010307886098133129 0.023693702877091778" 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 | 221 | 0.658456 |
2e0b873ce7af9239ab5faf300ff839772e0b2dbb | 4,152 | xml | XML | vendor/mujoco_models/walker2d.xml | RussellM2020/maml_gps | 631560dfd4e23dc2da9bfbbd2e3c5252aa9775c5 | [
"MIT"
] | 1,838 | 2017-08-10T04:19:28.000Z | 2022-03-29T07:41:19.000Z | vendor/mujoco_models/walker2d.xml | RussellM2020/maml_gps | 631560dfd4e23dc2da9bfbbd2e3c5252aa9775c5 | [
"MIT"
] | 120 | 2016-10-05T09:16:16.000Z | 2017-07-27T22:57:31.000Z | vendor/mujoco_models/walker2d.xml | RussellM2020/maml_gps | 631560dfd4e23dc2da9bfbbd2e3c5252aa9775c5 | [
"MIT"
] | 498 | 2017-08-16T03:34:28.000Z | 2022-03-31T04:41:32.000Z | <mujoco model="walker2d">
<compiler inertiafromgeom="true" angle="degree" coordinate="global" />
<option timestep="0.005" />
<default>
<joint limited='true' damping='.1' armature='0.01' />
<geom contype='1' conaffinity='0' condim='3' friction='.7 .1 .1' rgba='0.8 0.6 .4 1' density='1000' />
</default>
<asset>
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0" />
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" />
<texture name="texplane" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100" />
<material name='MatPlane' texture="texplane" shininess="1" texrepeat="30 30" specular="1" reflectance="0.5" />
<material name='geom' texture="texgeom" texuniform="true" />
</asset>
<worldbody>
<light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
<geom name='floor' material="MatPlane" pos='0 0 0' size='40 40 40' type='plane' conaffinity='1' rgba='0.8 0.9 0.8 1' condim='3' />
<body name="torso" pos="0 0 1.25">
<joint name='rootz' type='slide' axis='0 0 1' pos='0 0 0' limited='false' damping='0' armature='0' stiffness='0' ref="1.25" />
<joint name='rootx' type='slide' axis='1 0 0' pos='0 0 0' limited='false' damping='0' armature='0' stiffness='0' />
<joint name='rooty' type='hinge' axis='0 1 0' pos='0 0 1.25' limited='false' damping='0' armature='0' stiffness='0' />
<geom name="torso_geom" type="capsule" fromto="0 0 1.45 0 0 1.05" size="0.05" friction="0.9" />
<body name="thigh" pos="0 0 1.05">
<joint name="thigh_joint" type="hinge" pos="0 0 1.05" axis="0 -1 0" range="-150 0" />
<geom name="thigh_geom" type="capsule" fromto="0 0 1.05 0 0 0.6" size="0.05" friction="0.9" />
<body name="leg" pos="0 0 0.35">
<joint name="leg_joint" type="hinge" pos="0 0 0.6" axis="0 -1 0" range="-150 0" />
<geom name="leg_geom" type="capsule" fromto="0 0 0.6 0 0 0.1" size="0.04" friction="0.9" />
<body name="foot" pos="0.2/2 0 0.1">
<joint name="foot_joint" type="hinge" pos="0 0 0.1" axis="0 -1 0" range="-45 45" />
<geom name="foot_geom" type="capsule" fromto="-0.0 0 0.1 0.2 0 0.1" size="0.06" friction="0.9" />
</body>
</body>
</body>
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
<body name="thigh_left" pos="0 0 1.05">
<joint name="thigh_left_joint" type="hinge" pos="0 0 1.05" axis="0 -1 0" range="-150 0" />
<geom name="thigh_left_geom" type="capsule" fromto="0 0 1.05 0 0 0.6" size="0.05" friction="0.9" rgba=".7 .3 .6 1" />
<body name="leg_left" pos="0 0 0.35">
<joint name="leg_left_joint" type="hinge" pos="0 0 0.6" axis="0 -1 0" range="-150 0" />
<geom name="leg_left_geom" type="capsule" fromto="0 0 0.6 0 0 0.1" size="0.04" friction="0.9" rgba=".7 .3 .6 1" />
<body name="foot_left" pos="0.2/2 0 0.1">
<joint name="foot_left_joint" type="hinge" pos="0 0 0.1" axis="0 -1 0" range="-45 45" />
<geom name="foot_left_geom" type="capsule" fromto="-0.0 0 0.1 0.2 0 0.1" size="0.06" friction="1.9" rgba=".7 .3 .6 1" />
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/> -->
<motor joint="thigh_joint" ctrlrange="-150.0 150.0" ctrllimited="true" />
<motor joint="leg_joint" ctrlrange="-100.0 100.0" ctrllimited="true" />
<motor joint="foot_joint" ctrlrange="-100.0 100.0" ctrllimited="true" />
<motor joint="thigh_left_joint" ctrlrange="-150.0 150.0" ctrllimited="true" />
<motor joint="leg_left_joint" ctrlrange="-100.0 100.0" ctrllimited="true" />
<motor joint="foot_left_joint" ctrlrange="-100.0 100.0" ctrllimited="true" />
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/> -->
</actuator>
</mujoco>
| 68.065574 | 164 | 0.595135 |
2e0bb95deaadd049a276317df14e100d70308730 | 1,084 | xml | XML | model/composite/loop.xml | MyelinsheathXD/mujocoUnrealPlugin | 884c65eb65a0e3b7615dd515331eb807af58c5d5 | [
"Apache-2.0"
] | 1,575 | 2021-10-18T15:09:07.000Z | 2022-03-31T08:13:23.000Z | model/composite/loop.xml | MyelinsheathXD/mujocoUnrealPlugin | 884c65eb65a0e3b7615dd515331eb807af58c5d5 | [
"Apache-2.0"
] | 142 | 2021-10-18T20:45:04.000Z | 2022-03-31T14:46:00.000Z | model/composite/loop.xml | MyelinsheathXD/mujocoUnrealPlugin | 884c65eb65a0e3b7615dd515331eb807af58c5d5 | [
"Apache-2.0"
] | 133 | 2021-10-18T15:37:45.000Z | 2022-03-30T09:29:09.000Z | <!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the 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.
-->
<mujoco model="Loop">
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<worldbody>
<body name="B0" pos="0 0 1">
<freejoint/>
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
| 32.848485 | 77 | 0.661439 |
2e0bfe573ff3fc85b74db4b8387a19f377e184d8 | 79,314 | xml | XML | herb_reconf/cluttered_scenes/easy_pushing_021_bleach_cleanser_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_021_bleach_cleanser_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_021_bleach_cleanser_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="ycb_objects/021_bleach_cleanser/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="1.013907615132552 1.013907615132552 1.013907615132552"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.8575429214102566 0.8575429214102566 0.8575429214102566"/></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 3.391386036345126" name="gen_body_0" pos="-0.05 -0.35 0.300452000007499"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7692392111192561 0.5621676944018125 0.03060576547526639 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.65830878184503" name="gen_body_gadded_1" pos="0.13769183515086902 -0.35 0.30895781400434524"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.7793197072494303 0.40224413310046037 0.8124982367768346 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.7893951138460205" name="gen_body_gadded_2" pos="0.05981801704662688 -0.17703671881658686 0.3041907507068403"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.49692598199692084 0.22959327204924085 0.8694327899443941 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody>
<contact>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/>
<exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/>
<exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/>
<exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/>
<exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/>
<exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/>
<exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/>
<exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/>
<exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/>
<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
</contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 115.95614 | 951 | 0.685957 |
2e0defab3c749e30f365fa955717e4bd75eec0ff | 2,718 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3290_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3290_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3290_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/329/329.stl" name="obj0" scale="0.006003769917225274 0.006003769917225274 0.006003769917225274" />
</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="0.019305737555254384 0.04 0.015879890380166968" 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="-0.002998129952275678 0.004452018590552505 0.030748988129962372" size="0.01398365739382533 0.014913640404120448 0.04634122794646665" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0006825190966880717 0.003718573911353831 0.00028765056366269586" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.002998129952275678 0.004452018590552505 0.02074898812996237" 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 | 0.657469 |
2e110130dce3e11b06a6f8574b8c03f21e6008fe | 16,914 | xml | XML | data_gen/collect_bowl_data_xmls/test_bowl_3f6a6718d729b77bed2eab6efdeec5f8.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors-for-Generalizing-Manipulation-Across-Objects-Configurations- | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | 1 | 2022-03-14T22:25:17.000Z | 2022-03-14T22:25:17.000Z | data_gen/collect_bowl_data_xmls/test_bowl_3f6a6718d729b77bed2eab6efdeec5f8.xml | YunchuZhang/Visually-Grounded-Library-of-Behaviors | 896afda942dfc04e4aaad2ee751c32df1eb17913 | [
"MIT"
] | null | null | null | data_gen/collect_bowl_data_xmls/test_bowl_3f6a6718d729b77bed2eab6efdeec5f8.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_bowl_3f6a6718d729b77bed2eab6efdeec5f8.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="1.0738147113311232" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_0" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.7887863253925427" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_1" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1305758701973716" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_2" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.7477902855663716" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_3" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.7591116286372523" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_4" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1389832078833075" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_5" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="2.0872164787393834" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_6" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9879255380767964" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_7" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6697708564560912" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_8" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1243152482254075" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_9" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7196146157415386" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_10" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5993809107251076" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_11" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.017423605151595" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_12" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6116311062677973" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_13" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6039109726444006" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_14" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1236586702414608" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_15" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6328941489906448" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_16" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.2964393806742132" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_17" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7210433104809859" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_18" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.128466248451471" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_19" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.672481046570862" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_20" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.29249414979854954" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_21" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.3793572813450915" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_22" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.838762169306413" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_23" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.862908380346148" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_24" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9704021887925117" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_25" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.29899766660011257" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_26" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6035370486439795" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_27" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6852158910181257" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_28" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5993915947413865" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_29" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.6967716674666721" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_30" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2891903399572164" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_31" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.041713324386919645" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_32" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.3813756101602115" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_33" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8317243340298455" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_34" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8596327602977621" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_35" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7301043303932122" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_36" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7352872183913048" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_37" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8485597870273599" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_38" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2803245581023911" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_39" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8114823052449361" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_40" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.37146186355654565" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_41" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2944218737083477" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_42" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.5994672103322387" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_43" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.7049161078859145" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_44" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.29890940490653994" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_45" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9310194449582575" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_46" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8587943537911351" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_47" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.058781060782717796" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_48" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8369870607365654" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_49" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.37687711476064617" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_50" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1441738318746775" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_51" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.20992513995705106" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_52" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.03780091134659885" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_53" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.19601790388828247" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_54" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9456178432070411" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_55" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.11470426620184868" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_56" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.21017555722429807" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_57" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1437370262238145" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_58" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.8822332256127123" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_59" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.3941536080101967" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_60" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.029917187292223056" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_61" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.15012889422004644" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_62" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9612362862433617" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_63" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.10520693569124873" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_64" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.2963465025245826" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_65" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.1052782003666165" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_66" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.9893536250972335" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_67" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.029388959702192498" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_68" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.641817965362963" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_69" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.20318445943503055" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_70" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="0.09417790499210499" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_71" pos="0 0 0" solimp="0.998 0.998 0.001" solref="0.001 1" type="mesh" /><geom condim="4" density="1.1113214976110974" friction="1.3 0.3 0.1" group="1" material="ceramic" mesh="3f6a6718d729b77bed2eab6efdeec5f8_mesh_72" 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> | 545.612903 | 15,793 | 0.715561 |
2e13fce0dfe75d41f6997ffcc94a75e59a886623 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3426_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3426_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3426_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/342/342.stl" name="obj0" scale="0.005310013451045448 0.005310013451045448 0.005310013451045448" />
</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="0.03179429494962768 0.04795499432205727 0.02611929241401118">
<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="-0.004550634051139395 -0.0043581553277229745 0.0002558191122465681" rgba="1 0 0 0" size="0.01589714747481384 0.023977497161028635 0.01305964620700559" 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 | 199 | 0.670249 |
2e153dded9c07e850cac42d3f0bd7a73efc2365b | 2,716 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3957_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3957_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3957_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/395/395.stl" name="obj0" scale="0.005599970320157304 0.005599970320157304 0.005599970320157304" />
</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="0.01941104272147358 0.04 0.02930363389074038" 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="0.00896891582601405 0.004601913840580008 0.03424837498885553" size="0.019814214869970224 0.022608302208464506 0.053866233881813996" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.00032583818535300563 -0.0009245605964516767 -0.00020681617148488976" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00896891582601405 0.004601913840580008 0.02424837498885553" 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 | 0.657585 |
2e16ee9794b8c0f61d7348514ddd3ed8194d5912 | 2,719 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7129_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7129_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7129_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="-0.005484399926560151 0.0018134468101181026 -0.0025416866849147235" size="0.024324433592232325 0.02257242601379264 0.04368001135423841" 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="-0.005484399926560151 0.0018134468101181026 -0.012541686684914725" 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 | 224 | 0.656124 |
2e1bf4d98238ac3b6239a2d416ddbdfef2bbadf8 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2436_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2436_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2436_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/243/243.stl" name="obj0" scale="0.007236127704181747 0.007236127704181747 0.007236127704181747" />
</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="0.03133520439601767 0.049168764137144556 0.22561088829049594">
<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 |
2e1d6a98e4b103b6a0f81673bd904960ef73adb1 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3841_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3841_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3841_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/384/384.stl" name="obj0" scale="0.005234851591811942 0.005234851591811942 0.005234851591811942" />
</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="0.02092405516495478 0.03410346934319669 0.21607291034254528">
<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 |
2e1f9106a08567eb52785b0efd054b5f174b8bef | 163,290 | xml | XML | comparisons/Bullet/MJCF/chain/chain-net/chain-net-16x16-0.1scale.xml | ipc-sim/rigid-ipc | d839af457236e7363b14c2e482a01d8160fa447e | [
"MIT"
] | 71 | 2021-09-08T13:16:43.000Z | 2022-03-27T10:23:33.000Z | comparisons/Bullet/MJCF/chain/chain-net/chain-net-16x16-0.1scale.xml | ipc-sim/rigid-ipc | d839af457236e7363b14c2e482a01d8160fa447e | [
"MIT"
] | 4 | 2021-09-08T00:16:20.000Z | 2022-01-05T17:44:08.000Z | comparisons/Bullet/MJCF/chain/chain-net/chain-net-16x16-0.1scale.xml | ipc-sim/rigid-ipc | d839af457236e7363b14c2e482a01d8160fa447e | [
"MIT"
] | 2 | 2021-09-18T15:15:38.000Z | 2021-09-21T15:15:38.000Z | <mujoco>
<asset>
<mesh file="wrecking-ball/link.obj" name="wrecking-ball/link"/>
</asset>
<worldbody>
<body pos="-0.165 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.0 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.08000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 0.16000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.24000000000000005 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 0.16000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 0.32000000000000006 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.4000000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 0.32000000000000006 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 0.4800000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.56 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 0.4800000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 0.6400000000000001 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.7200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 0.6400000000000001 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 0.8000000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.8800000000000001 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 0.8000000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 0.9600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.0400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 0.9600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 1.12 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.2000000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 1.12 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 1.2800000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.3600000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 1.2800000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 1.4400000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.5200000000000002 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 1.4400000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 1.6000000000000003 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.6800000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 1.6000000000000003 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 1.7600000000000002 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.8400000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 1.7600000000000002 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 1.9200000000000004 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 2.0000000000000004 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 1.9200000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 2.0800000000000005 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 2.1600000000000006 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 2.0800000000000005 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.0825 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.2475 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.4125 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.5775 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.7425 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.9075 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.0725 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.2375 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.4025 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.5675 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.7325 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.8975 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.0625 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.2275 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.3925 2.24 0" quat="-0.5 0.5 0.5 0.5">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 2.3200000000000003 0" quat="0.707107 -2.16489e-17 -0.707107 -2.16489e-17">
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.475 2.24 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.165 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.33 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.495 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.66 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.825 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-0.99 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.155 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.32 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.485 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.65 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.815 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-1.98 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.145 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
<body pos="-2.31 2.4000000000000004 0" quat="-2.16489e-17 -0.707107 0.707107 2.16489e-17">
<inertial mass="0"/>
<geom mesh="wrecking-ball/link" type="mesh" size="0.100000 0.100000 0.100000" density="7680.000000" friction="0.000000"/>
</body>
</worldbody>
</mujoco>
| 78.504808 | 133 | 0.616804 |
2e22edb3a4a7ebdfe363970b520362e62eb551f4 | 2,710 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/940_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/940_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/940_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/094/094.stl" name="obj0" scale="0.00589670013289688 0.00589670013289688 0.00589670013289688" />
</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="0.027530808415475595 0.04 0.02791161731005808" 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="0.005000898199032231 0.0026269858242518023 0.032251935259232443" size="0.021723861785889177 0.022525085741609066 0.0529546986499243" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.006490169654204042 0.005190712507924402 0.006828045024783732" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.005000898199032231 0.0026269858242518023 0.02225193525923244" 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> | 50.185185 | 221 | 0.657565 |
2e23baa95e73f55afa1a706c023888aae099beff | 1,774 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4053_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4053_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4053_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/405/405.stl" name="obj0" scale="0.021384284517255537 0.021384284517255537 0.021384284517255537" />
</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="0.022290550495096827 0.10739684869180756 0.028715437394021735">
<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="0.00010087767123473016 -0.0003108390419725089 -1.2685350494113243e-06" rgba="1 0 0 0" size="0.011145275247548414 0.05369842434590378 0.014357718697010868" 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 | 203 | 0.6708 |
2e279f4ef64d9baa0102e20d6672bbd61b2fbe71 | 101,206 | xml | XML | herb_reconf/cluttered_scenes/grasping_016_pear_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/grasping_016_pear_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/grasping_016_pear_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="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/016_pear/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/cup_1/scene.stl" name="gen_mesh_gadded_1" scale="1.0979943514152384 1.0979943514152384 1.0979943514152384"/><mesh class="geom0" file="ycb_objects/021_bleach_cleanser/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="0.8462206462864816 0.8462206462864816 0.8462206462864816"/><mesh class="geom0" file="ycb_objects/006_mustard_bottle/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.7442988548919167 0.7442988548919167 0.7442988548919167"/><mesh class="geom0" file="ycb_objects/009_gelatin_box/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.7017529709665553 0.7017529709665553 0.7017529709665553"/><mesh class="geom0" file="ycb_objects/011_banana/google_16k/nontextured.stl" name="gen_mesh_gadded_5" scale="1.0662004375272804 1.0662004375272804 1.0662004375272804"/></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 0.9450970572617264" name="gen_body_0" pos="0 0 0.30017899999511427"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6410669102610093 0.5703621970527396 0.24236570079813236 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 3.80791921375105" name="gen_body_gadded_1" pos="0.07894548997130897 -0.037395585089499674 0.5129835523493742"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.19837720086780197 0.29248000475783775 0.8917667819170395 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.6719091835006692" name="gen_body_gadded_2" pos="0.2318754714435752 -0.002460797809946364 0.3018167106930632"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.42685796558044786 0.9610733475620773 0.3846354087513659 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.09060310118733593" name="gen_body_gadded_3" pos="0.2939637990786558 -0.15570432308959992 0.3031187027024311"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9129959644939596 0.6287102175062473 0.532358819341795 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 5.385588566010805" name="gen_body_gadded_4" pos="-0.1744840987299351 0.048065258374880085 0.3003479683718506"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.9895783402738286 0.5123283540229205 0.6550037345260806 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 2.7122157632352875" name="gen_body_gadded_5" pos="0.21636678495434378 0.20048769105233602 0.3003237552433921"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.9982495880042161 0.3797298348459438 0.7425709346025055 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="box_geom_0" geom2="table_plane"/>-->
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/>
<!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>-->
<!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />-->
<!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" />
<pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> -->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><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="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 158.879121 | 23,417 | 0.690997 |
2e2a00f9919ac4b4a7850c4cf8006ad7001ef98b | 80,313 | xml | XML | herb_reconf/cluttered_scenes/hard_pushing_077_rubiks_cube_2_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_077_rubiks_cube_2_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_077_rubiks_cube_2_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/077_rubiks_cube/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="0.8661173290875409 0.8661173290875409 0.8661173290875409"/><mesh class="geom0" file="ycb_objects/002_master_chef_can/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.9683450121001815 1.9683450121001815 1.9683450121001815"/><mesh class="geom0" file="ycb_objects/018_plum/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.7910561831395972 0.7910561831395972 0.7910561831395972"/><mesh class="geom0" file="ycb_objects/003_cracker_box/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="0.9113768642474631 0.9113768642474631 0.9113768642474631"/></asset>
<worldbody>
<camera mode="targetbody" name="herb_head" pos="0 0.75 .5" target="table"/>
<camera fovy="45" mode="targetbody" name="iso" pos=".6 -0.007797638 .9" target="cam_target"/>
<geom class="/" condim="3" material="wood2d" name="floor" pos="0 0 0" size="0 0 0.25" type="plane"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_1" pos="-15 0 15" size="15 15 0.025000000" type="plane" zaxis="1 0 0"/>
<geom class="/" conaffinity="0" contype="0" mass="0.0" material="wall" name="//unnamed_geom_2" pos="0 15 15" size="15 15 0.025000000" type="plane" zaxis="0 -1 0"/>
<geom class="/" condim="3" friction="0.67 0.005 0.0001" name="table_plane" pos="0 0 0.3" priority="20" rgba="0 0 0 0" size="0 0 0.25" type="plane"/>
<body name="table" pos="0 0 0.3" quat="1 0 0 0">
<geom class="/" group="1" material="marblecube" name="tabletop" pos="0 0 -0.012500000" size="0.4 0.5 0.012500000" type="box"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_4" pos="0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_5" pos="-0.2 0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_6" pos="0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
<geom class="/" group="1" material="concretecube" name="//unnamed_geom_7" pos="-0.2 -0.275 -0.1499999" size="0.0408 0.1374998" type="cylinder"/>
</body>
<body name="herb/">
<body name="cam_target" pos="-.2 -0.2 0.29">
<geom class="geom0" conaffinity="0" contype="0" group="1" name="//unnamed_geom_100" rgba="0 0 0 0" size="0.0001 0.0001 0.0001" type="box"/>
</body>
<body name="herb/herb" pos="-0.8 0 0.0509999">
<geom class="herb/viz" mesh="herb/herb_frame" name="herb//unnamed_geom_0" pos="0 0 1.05" quat="0.5 0.499977 0.5 0.500023" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_frame_collision" name="herb//unnamed_geom_1" pos="0 0 1.05" quat="3.2758700e-05 3.27571999999e-05 -0.70709 -0.70712299999" rgba="0.299999 0 0 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neobotix_base" name="herb//unnamed_geom_2" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="0.70709100 0 0 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neobotix_base_collision" name="herb//unnamed_geom_3" pos="-0.0740859999999 -3.43217e-06 -0.0512439999999" quat="2.3108400e-07 2.31074e-07 0.70709 0.70712299999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_pan" name="herb//unnamed_geom_4" pos="0.1249 5.7862200e-06 1.1008100" quat="2.3108400e-07 0.70712299999 -0.70709 -2.31074e-07" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_pan_collision" name="herb//unnamed_geom_5" pos="0.1249 5.7862200e-06 1.1008100" quat="0.5 0.500023 -0.5 -0.499977" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_neck_tilt" name="herb//unnamed_geom_6" pos="0.1249 5.7862200e-06 1.19270999999" quat="0.24185100 0.66447800 -0.66444800 -0.241839" type="mesh"/>
<geom class="herb/" mesh="herb/herb_neck_tilt_collision" name="herb//unnamed_geom_7" pos="0.1249 5.7862200e-06 1.19270999999" quat="-0.29881400 -0.640849 -0.64087799999 -0.298827999999" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_crl_head" name="herb//unnamed_geom_8" pos="0.32064500 0.0039098500 1.33653" quat="0.640863999999 0.29885800 -0.298844 -0.64083500" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_crl_head_collision" name="herb//unnamed_geom_9" pos="0.124906 0.0077957900 1.1927000" quat="0.298844 0.64083500 0.640863999999 0.298856999999" rgba="0.299999 0.299999 0.299999 1" type="mesh"/>
<geom class="herb/viz" mesh="herb/herb_kinect" name="herb//unnamed_geom_10" pos="0.19753100 0.0077991500 1.2177" quat="0.664479999996 0.664456999996 0.241829999999 -0.241829999999" rgba="0.25 0.25 0.25 1" type="mesh"/>
<geom class="herb/" mesh="herb/herb_kinect_collision" name="herb//unnamed_geom_11" pos="0.125458999999 0.00779763999999 1.19333" quat="0.29885200 0.64085700 0.64084300 0.29885" rgba="0.25 0.25 0.25 1" type="mesh"/>
<site class="herb/" name="herb/right_arm" pos="0.012500000 -0.22 0.92000000" quat="0 -0.70709999999 0 -0.70709999999"/>
<body name="herb/wam_1/" pos="0.012500000 -0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995">
<body name="herb/wam_1/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial diaginertia="0.1 0.1 0.1" mass="1.0" pos="0 0 0"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/base_link_fine" name="herb/wam_1//unnamed_geom_0"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/base_link_convex" name="herb/wam_1//unnamed_geom_1"/>
<body name="herb/wam_1/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial diaginertia="0.1350889 0.113095 0.09044258" mass="5.0" pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387"/>
<joint armature=".01" class="herb/wam_1/" damping="1.98" name="herb/wam_1/j1_base_yaw_joint" range="-2.6 2.6"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_link_fine" name="herb/wam_1//unnamed_geom_2"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_3"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_4"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_5"/>
<body name="herb/wam_1/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial diaginertia="0.021419500 0.0167127 0.012645200" mass="3.87494" pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j2_shoulder_pitch_joint" range="-1.9850000 1.9850000" ref="1.885"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/shoulder_pitch_link_fine" name="herb/wam_1//unnamed_geom_6"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/shoulder_pitch_link_convex" name="herb/wam_1//unnamed_geom_7"/>
<body name="herb/wam_1/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.05927179 0.059220700 0.003134188" mass="2.20228" pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488"/>
<joint armature=".01" class="herb/wam_1/" damping="1.65" name="herb/wam_1/j3_shoulder_yaw_joint" range="-2.799998 2.799998"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/upper_arm_link_fine" name="herb/wam_1//unnamed_geom_8"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_9"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/upper_arm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_10"/>
<body name="herb/wam_1/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial diaginertia="0.0151047 0.0148285 0.0027580500" mass="0.500168" pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524"/>
<joint armature=".01" class="herb/wam_1/" damping="0.88" name="herb/wam_1/j4_elbow_pitch_joint" range="-0.9 3.141589" ref="2.0944"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/elbow_link_fine" name="herb/wam_1//unnamed_geom_11"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/elbow_link_convex" name="herb/wam_1//unnamed_geom_12"/>
<geom class="herb/wam_1/viz" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_fine" name="herb/wam_1//unnamed_geom_13" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_14" pos="-0.04499998 -0.07299995 0"/>
<geom class="herb/wam_1/col" euler="1.57 0 0" mesh="herb/wam_1/forearm_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_15" pos="-0.04499998 -0.07299995 0"/>
<body name="herb/wam_1/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="1.05376" pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.55" name="herb/wam_1/j5_wrist_yaw_joint" range="-4.549998 1.25"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_yaw_link_fine" name="herb/wam_1//unnamed_geom_16"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_17"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_yaw_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_18"/>
<body name="herb/wam_1/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial diaginertia="0.0005551678 0.00046317 0.0002340719" mass="0.517974" pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j6_wrist_pitch_joint" range="-1.5707 1.5707"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_pitch_link_fine" name="herb/wam_1//unnamed_geom_19"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p1" name="herb/wam_1//unnamed_geom_20"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p2" name="herb/wam_1//unnamed_geom_21"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_pitch_link_convex_decomposition_p3" name="herb/wam_1//unnamed_geom_22"/>
<body name="herb/wam_1/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="0.00020683 0.00010859 0.00010851" mass="0.0828613" pos="0 0 0.055" quat="0.70710700 0 0 0.70710700"/>
<joint armature=".01" class="herb/wam_1/" damping="0.11" name="herb/wam_1/j7_palm_yaw_joint" range="-3 3"/>
<geom class="herb/wam_1/viz" mesh="herb/wam_1/wrist_palm_link_fine" name="herb/wam_1//unnamed_geom_23"/>
<geom class="herb/wam_1/col" mesh="herb/wam_1/wrist_palm_link_convex" name="herb/wam_1//unnamed_geom_24"/>
<site class="herb/wam_1/" name="herb/wam_1/hand_attachment"/>
<body name="herb/wam_1/bhand/">
<body name="herb/wam_1/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial diaginertia="0.000224052 0.0002107009 2.8121200e-05" mass="0.50573" pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_palm_fine" name="herb/wam_1/bhand//unnamed_geom_0"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_1"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_2"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_3"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_palm_link_convex_decomposition_p4" name="herb/wam_1/bhand//unnamed_geom_4"/>
<body name="herb/wam_1/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" axis="0 0 -1" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j11" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_5"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_6"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_7"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_8"/>
<body name="herb/wam_1/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j12" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_9"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_10"/>
<body name="herb/wam_1/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j13" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_11"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_12"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.14109" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j21" range="0 3.141589"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_prox_link_fine" name="herb/wam_1/bhand//unnamed_geom_13"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p1" name="herb/wam_1/bhand//unnamed_geom_14"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p2" name="herb/wam_1/bhand//unnamed_geom_15"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_prox_link_convex_decomposition_p3" name="herb/wam_1/bhand//unnamed_geom_16"/>
<body name="herb/wam_1/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j22" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_17"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_18"/>
<body name="herb/wam_1/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j23" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_19"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_20"/>
</body>
</body>
</body>
<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06" mass="0.062139" pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
<geom class="herb/wam_1/bhand/viz" mesh="herb/wam_1/bhand/bhand_finger_med_link_fine" name="herb/wam_1/bhand//unnamed_geom_21"/>
<geom class="herb/wam_1/bhand/col" mesh="herb/wam_1/bhand/bhand_finger_med_link_convex" name="herb/wam_1/bhand//unnamed_geom_22"/>
<body name="herb/wam_1/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06" mass="0.041377" pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900"/>
<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j33" range="0 0.837758"/>
<geom class="herb/wam_1/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_fine" name="herb/wam_1/bhand//unnamed_geom_23"/>
<geom class="herb/wam_1/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam_1/bhand/bhand_finger_dist_link_convex" name="herb/wam_1/bhand//unnamed_geom_24"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--
<site name="herb/left_arm" class="herb/" pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995"/>
<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
<body name="herb/wam/1_base_link" pos="0 0 0" quat="1 0 0 0">
<inertial pos="0 0 0" mass="1.0" diaginertia="0.1 0.1 0.1"/>
<geom name="herb/wam//unnamed_geom_0" class="herb/wam/viz" mesh="herb/wam/base_link_fine"/>
<geom name="herb/wam//unnamed_geom_1" class="herb/wam/col" mesh="herb/wam/base_link_convex"/>
<body name="herb/wam/2_shoulder_yaw_link" pos="0 0 0.3459997">
<inertial pos="-0.00443422 -0.00066489000 -0.1289039" quat="0.6956595 0.71671300 -0.03548628 0.03348387" mass="5.0" diaginertia="0.1350889 0.113095 0.09044258"/>
<joint name="herb/wam/j1_base_yaw_joint" class="herb/wam/" range="-2.6000000 2.6000000" damping="1.98" armature=".01"/>
<geom name="herb/wam//unnamed_geom_2" class="herb/wam/viz" mesh="herb/wam/shoulder_link_fine"/>
<geom name="herb/wam//unnamed_geom_3" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_4" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_5" class="herb/wam/col" mesh="herb/wam/shoulder_link_convex_decomposition_p3"/>
<body name="herb/wam/3_shoulder_pitch_link" pos="0 0 0" quat="0.4159998 -0.4159998 0.5719995 0.5719995">
<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.96179400 0.27311200 -0.016931600 0.008665920006" mass="3.87494" diaginertia="0.021419500 0.0167127 0.012645200"/>
<joint name="herb/wam/j2_shoulder_pitch_joint" class="herb/wam/" range="-1.9850000 1.9850000" ref="1.885" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_6" class="herb/wam/viz" mesh="herb/wam/shoulder_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_7" class="herb/wam/col" mesh="herb/wam/shoulder_pitch_link_convex"/>
<body name="herb/wam/4_upper_arm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.0068325900 3.3090000e-05 0.39249200" quat="0.64713600 0.01708219 0.0143038 0.7620488" mass="2.20228" diaginertia="0.05927179 0.059220700 0.003134188"/>
<joint name="herb/wam/j3_shoulder_yaw_joint" class="herb/wam/" range="-2.799998 2.799998" damping="1.65" armature=".01"/>
<geom name="herb/wam//unnamed_geom_8" class="herb/wam/viz" mesh="herb/wam/upper_arm_link_fine"/>
<geom name="herb/wam//unnamed_geom_9" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_10" class="herb/wam/col" mesh="herb/wam/upper_arm_link_convex_decomposition_p2"/>
<body name="herb/wam/5_forearm_link" pos="0.04499998 0 0.55000000" quat="0.3539998 -0.3539998 0.6119999 0.6119999">
<inertial pos="-0.04001489 -0.14271700 -0.00022942000" quat="0.70428100 0.70632600 0.01803329 0.06903524" mass="0.500168" diaginertia="0.0151047 0.0148285 0.0027580500"/>
<joint name="herb/wam/j4_elbow_pitch_joint" class="herb/wam/" range="-0.9 3.141589" ref="2.0944" damping="0.88" armature=".01"/>
<geom name="herb/wam//unnamed_geom_11" class="herb/wam/viz" mesh="herb/wam/elbow_link_fine"/>
<geom name="herb/wam//unnamed_geom_12" class="herb/wam/col" mesh="herb/wam/elbow_link_convex"/>
<geom name="herb/wam//unnamed_geom_13" class="herb/wam/viz" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_fine"/>
<geom name="herb/wam//unnamed_geom_14" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="8.920995e-05 0.0043582400 -0.0051121700" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="1.05376" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
<geom name="herb/wam//unnamed_geom_16" class="herb/wam/viz" mesh="herb/wam/wrist_yaw_link_fine"/>
<geom name="herb/wam//unnamed_geom_17" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_18" class="herb/wam/col" mesh="herb/wam/wrist_yaw_link_convex_decomposition_p2"/>
<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
<inertial pos="-0.0001226199 -0.024683400 -0.01703189" quat="0.630602 0.77609300 0.0040196900 -0.002372" mass="0.517974" diaginertia="0.0005551678 0.00046317 0.0002340719"/>
<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_19" class="herb/wam/viz" mesh="herb/wam/wrist_pitch_link_fine"/>
<geom name="herb/wam//unnamed_geom_20" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p1"/>
<geom name="herb/wam//unnamed_geom_21" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p2"/>
<geom name="herb/wam//unnamed_geom_22" class="herb/wam/col" mesh="herb/wam/wrist_pitch_link_convex_decomposition_p3"/>
<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
<inertial pos="0 0 0.055" quat="0.70710700 0 0 0.70710700" mass="0.0828613" diaginertia="0.00020683 0.00010859 0.00010851"/>
<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
<inertial pos="-5.109798e-05 0.005043297 0.036671000" quat="0.5530978 0.43904700 0.43445600 0.5590776" mass="0.50573" diaginertia="0.000224052 0.0002107009 2.8121200e-05"/>
<geom name="herb/wam/bhand//unnamed_geom_0" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_palm_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_1" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_2" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_3" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p3"/>
<geom name="herb/wam/bhand//unnamed_geom_4" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_palm_link_convex_decomposition_p4"/>
<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger12" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_10" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger13" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/>
<geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/>
<geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/>
<body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
<body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
<inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/>
<joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/>
<body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683">
<inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/>
<joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
<geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>-->
</body>
<light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/>
</body>
<!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998">
<geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/>
<joint name="//unnamed_joint_2" class="/" type="free"/>
</body>
<body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998">
<geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/>
<joint name="//unnamed_joint_3" class="/" type="free"/>
</body>
<body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998">
<geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/>
<joint name="//unnamed_joint_4" class="/" type="free"/>
</body> -->
<!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/>
<joint name="//unnamed_joint_5" class="/" type="free"/>
</body>-->
<!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998">
<geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/>
<joint name="//unnamed_joint_6" class="/" type="free"/>
</body>-->
<!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998">
<geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325">
<geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/>
<joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/>
</body>
<body name="target_obj" pos="0 0.0 0.325">
<geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/>
</body>-->
<!--<body name="gen_body_0" pos="0 0.0 0.3549998">
<geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/>
<joint name="//unnamed_joint_0" class="/" type="free"/>
</body>-->
<!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998">
<geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/>
</body>-->
<!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/>
<joint name="//unnamed_joint_1" class="/" type="free"/>
</body>-->
<!-- <body name="virt_box_2" pos="0 .45 0.3549998">
<geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/>
</body>
<body name="virt_box_3" pos="0 0.57243499223068691 0.3549998">
<geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/>
</body> -->
<body euler="0 0 5.099839292394684" name="gen_body_0" pos="0 0 0.3003150000120513"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3963732812872882 0.6337530448685698 0.17324475620551327 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.660766424851256" name="gen_body_gadded_1" pos="0.14147610501917998 0.0 0.3001652349698543"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.19367710680840777 0.448739523203896 0.48420010017852844 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.226633016572943" name="gen_body_gadded_2" pos="0.24917667995951448 -0.18505802698872487 0.2998173927115383"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.573283316780975 0.6799512474417246 0.12741019959992783 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.8095972899817472" name="gen_body_gadded_3" pos="0.3120987214318974 -0.006710965146650655 0.30002063764050096"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.9066845113048642 0.9382685203701085 0.34710209662988123 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.9279009219087357" name="gen_body_gadded_4" pos="0.4099102962634886 -0.4622295282527591 0.3044538331590193"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.706859142115132 0.97369434775306 0.630679096559111 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> | 117.416667 | 1,607 | 0.687423 |
2e2adf09551856714b830035dc80a18e797277aa | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/414_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/414_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/414_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/041/041.stl" name="obj0" scale="0.004931992325032326 0.004931992325032326 0.004931992325032326" />
</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="0.02578910427803535 0.04499890120252362 0.018237827003028687">
<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="-0.0023036710805318943 -0.008516548038794048 -0.002280259527698912" rgba="1 0 0 0" size="0.012894552139017674 0.02249945060126181 0.009118913501514343" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670056 |
2e2c318e0bd94b4e916ada69cb6e3ce9f7d941ff | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6891_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6891_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6891_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/689/689.stl" name="obj0" scale="0.006174594778171405 0.006174594778171405 0.006174594778171405" />
</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="0.0319916375760079 0.03815154916779681 0.038980358850275974">
<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="0.0038508245150136906 0.0028927996390363756 0.0007994463946391488" rgba="1 0 0 0" size="0.01599581878800395 0.019075774583898406 0.019490179425137987" 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 | 199 | 0.67138 |
2e2cfa42461dab4983c0174323ead84cec0f829c | 22,008 | xml | XML | assets/mjcf/humanoid_CMU_V2020_v2.xml | Tbarkin121/Tensegrity_IsaacGym | 0b6b5227e76b18396862c242a4e8e743248844b3 | [
"MIT"
] | 317 | 2021-09-08T01:28:49.000Z | 2022-03-31T07:52:36.000Z | assets/mjcf/humanoid_CMU_V2020_v2.xml | Tbarkin121/Tensegrity_IsaacGym | 0b6b5227e76b18396862c242a4e8e743248844b3 | [
"MIT"
] | 24 | 2021-11-05T14:15:47.000Z | 2022-03-31T11:58:18.000Z | assets/mjcf/humanoid_CMU_V2020_v2.xml | Tbarkin121/Tensegrity_IsaacGym | 0b6b5227e76b18396862c242a4e8e743248844b3 | [
"MIT"
] | 58 | 2021-10-31T07:15:43.000Z | 2022-03-29T14:51:02.000Z | <!-- This model has been rescaled and better supports the incorporation of hands. -->
<mujoco model="humanoid_CMU">
<compiler angle="radian"/>
<asset>
<material name="self" rgba=".7 .5 .3 1"/>
</asset>
<default>
<joint limited="true" solimplimit="0 0.99 0.01" stiffness="1" armature=".01" damping="1"/>
<geom size="0.03 0 0" condim="1" friction="0.7 0.005 0.0001" solref="0.015 1" solimp="0.99 0.99 0.003"/>
<general ctrllimited="true" ctrlrange="-1 1"/>
<default class="humanoid">
<geom type="capsule" material="self" group="2"/>
<default class="stiff_medium">
<joint stiffness="10" damping="2"/>
</default>
<default class="stiff_medium_higher">
<joint stiffness="50" damping="4"/>
</default>
<default class="stiff_high">
<joint stiffness="200" damping="5"/>
</default>
<default class="sensor_site">
<site type="sphere" size="0.01" group="4" rgba="1 0 0 .5"/>
</default>
<default class="contact">
<geom condim="3" friction="1. 0.005 0.0001" solref="0.015 1" solimp="0.98 0.98 0.001" priority="1"/>
</default>
</default>
</default>
<worldbody>
<light name="tracking_light" pos="0 0 7" dir="0 0 -1" mode="trackcom"/>
<camera name="back" pos="0 3 1.4" xyaxes="-1 0 0 0 -1 2" mode="trackcom"/>
<camera name="side" pos="-3 0 1.4" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera name="front_side" pos="-2 -2 0.5" xyaxes="0.5 -0.5 0 0.1 0.1 1" mode="trackcom"/>
<body name="root" childclass="humanoid">
<camera name="bodycam" pos="0 .3 .1" xyaxes="-1 0 0 0 1 0" fovy="80"/>
<site name="root" size=".01" rgba="0.5 0.5 0.5 0"/>
<geom name="root_geom" size="0.1 0.07" pos="0 -0.05 0" quat="1 0 -1 0"/>
<body name="lhipjoint">
<geom name="lhipjoint" size="0.008 0.02187363" pos="0.0509685 -0.0459037 0.024723" quat="0.5708 -0.566602 -0.594264 0"/>
<body name="lfemur" pos="0.101937 -0.0918074 0.0494461" quat="0.984808 0 0 0.173648">
<joint name="lfemurrz" pos="0 0 0" axis="0 0 1" range="-1.0472 1.22173" class="stiff_medium"/>
<joint name="lfemurry" pos="0 0 0" axis="0 1 0" range="-1.22173 1.22173" class="stiff_medium"/>
<joint name="lfemurrx" pos="0 0 0" axis="1 0 0" range="-0.349066 2.79253" class="stiff_medium"/>
<geom name="lfemur_upper" size="0.085 0.083" pos="0 -0.115473 0" quat="0.696364 -0.696364 -0.122788 -0.122788" mass="0"/>
<geom name="lfemur" size="0.07 0.182226" pos="0 -0.202473 0" quat="0.696364 -0.696364 -0.122788 -0.122788" />
<body name="ltibia" pos="0 -0.404945 0">
<joint name="ltibiarx" pos="0 0 0" axis="1 0 0" range="0.01 2.96706"/>
<geom name="ltibia" size="0.04 0.1825614" pos="0 -0.202846 0" quat="0.696364 -0.696364 -0.122788 -0.122788"/>
<body name="lfoot" pos="0 -0.415693 0" quat="1 -1 0 0">
<site name="lfoot_touch" type="capsule" pos="0.0 0.02 -0.015" size="0.025 0.01" zaxis="1 0 0" class="sensor_site"/>
<joint name="lfootrz" pos="0 0 0" axis="0 0 1" range="-1.22173 0.349066" class="stiff_medium"/>
<joint name="lfootrx" pos="0 0 0" axis="1 0 0" range="-0.785398 0.8" class="stiff_medium"/>
<geom name="lfoot" size="0.025 0.08" pos="-0.0269999975006 -0.05 -0.0113878" quat=" 0.76725516 -0.64051114 0.02306487 -0.02306583" class="contact"/>
<geom name="lfoot_ch" size="0.025 0.08" pos="0.0270000024994 -0.05 -0.0113878" quat=" 0.72887266 -0.59399462 -0.24074283 -0.2407425 " class="contact"/>
<body name="ltoes" pos="0 -0.156372 -0.0227756">
<joint name="ltoesrx" pos="0 0 0" axis="1 0 0" range="-1.5708 0.349066"/>
<geom name="ltoes0" type="sphere" size="0.025" pos="0 -0.01 -.01" class="contact"/>
<geom name="ltoes1" type="sphere" size="0.025" pos=".03 -0.01 -.01" class="contact"/>
<geom name="ltoes2" type="sphere" size="0.025" pos="-.03 -0.01 -.01" class="contact"/>
<site name="ltoes_touch" type="capsule" pos="0.0 -0.01 -0.02" size="0.025 0.03" zaxis="1 0 0" class="sensor_site"/>
</body>
</body>
</body>
</body>
</body>
<body name="rhipjoint">
<geom name="rhipjoint" size="0.008 0.02187363" pos="-0.0509685 -0.0459037 0.024723" quat="0.574856 -0.547594 0.608014 0"/>
<body name="rfemur" pos="-0.101937 -0.0918074 0.0494461" quat="0.984808 0 0 -0.173648">
<joint name="rfemurrz" pos="0 0 0" axis="0 0 1" range="-1.22173 1.0472" class="stiff_medium"/>
<joint name="rfemurry" pos="0 0 0" axis="0 1 0" range="-1.22173 1.22173" class="stiff_medium"/>
<joint name="rfemurrx" pos="0 0 0" axis="1 0 0" range="-2.79253 0.349066" class="stiff_medium"/>
<geom name="rfemur_upper" size="0.085 0.083" pos="0 -0.115473 0" quat="0.696364 -0.696364 0.122788 0.122788" mass="0"/>
<geom name="rfemur" size="0.07 0.182226" pos="0 -0.202473 0" quat="0.696364 -0.696364 0.122788 0.122788" />
<body name="rtibia" pos="0 -0.404945 0">
<joint name="rtibiarx" pos="0 0 0" axis="1 0 0" range="0.01 2.96706"/>
<geom name="rtibia" size="0.04 0.1825614" pos="0 -0.202846 0" quat="0.696364 -0.696364 0.122788 0.122788"/>
<body name="rfoot" pos="0 -0.415693 0" quat="0.707107 -0.707107 0 0">
<site name="rfoot_touch" type="capsule" pos="0.0 0.02 -0.015" size="0.025 0.01" zaxis="1 0 0" class="sensor_site"/>
<joint name="rfootrz" pos="0 0 0" axis="0 0 1" range="-0.349066 1.22173" class="stiff_medium"/>
<joint name="rfootrx" pos="0 0 0" axis="1 0 0" range="-0.785398 .8" class="stiff_medium"/>
<geom name="rfoot" size="0.025 0.08" pos="-0.0269999965316 -0.05 -0.0113878" quat=" 0.73520687 -0.58633523 0.24050108 0.24050079" class="contact"/>
<geom name="rfoot_ch" size="0.025 0.08" pos="0.0270000034684 -0.05 -0.0113878" quat=" 0.77312469 -0.633231 -0.02545846 0.02545836" class="contact"/>
<body name="rtoes" pos="0 -0.156372 -0.0227756">
<joint name="rtoesrx" pos="0 0 0" axis="1 0 0" range="-1.5708 0.349066"/>
<geom name="rtoes0" type="sphere" size="0.025" pos="0 -0.01 -.01" class="contact"/>
<geom name="rtoes1" type="sphere" size="0.025" pos=".03 -0.01 -.01" class="contact"/>
<geom name="rtoes2" type="sphere" size="0.025" pos="-.03 -0.01 -.01" class="contact"/>
<site name="rtoes_touch" type="capsule" pos="0.0 -0.01 -0.02" size="0.025 0.03" zaxis="1 0 0" class="sensor_site"/>
</body>
</body>
</body>
</body>
</body>
<body name="lowerback">
<joint name="lowerbackrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_high"/>
<joint name="lowerbackry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_high"/>
<joint name="lowerbackrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium"/>
<geom name="lowerback" size="0.085 0.04540016" pos="0.00282931 0.0566065 0.01" quat="1 0 1 0"/>
<body name="upperback" pos="0.000565862 0.113213 -0.00805298">
<joint name="upperbackrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_high"/>
<joint name="upperbackry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_high"/>
<joint name="upperbackrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium"/>
<geom name="upperback" size="0.09 0.04542616" pos="0.000256264 0.0567802 0.02" quat="1 0 1 0"/>
<body name="thorax" pos="0.000512528 0.11356 0.000936821">
<joint name="thoraxrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_high"/>
<joint name="thoraxry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_high"/>
<joint name="thoraxrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium"/>
<geom name="thorax" size="0.095 0.0570206" pos="0 0.0569725 0.02" quat="1 0 1 0"/>
<body name="lowerneck" pos="0 0.113945 0.00468037">
<joint name="lowerneckrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_medium_higher"/>
<joint name="lowerneckry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_medium_higher"/>
<joint name="lowerneckrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium_higher"/>
<geom name="lowerneck" size="0.075 0.02279225" pos="-0.00165071 0.0452401 0.00534359" quat="1 1 0 0"/>
<body name="upperneck" pos="-0.00330143 0.0904801 0.0106872">
<joint name="upperneckrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_medium_higher"/>
<joint name="upperneckry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_medium_higher"/>
<joint name="upperneckrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium_higher"/>
<geom name="upperneck" size="0.05 0.0225272" pos="0.000500875 0.0449956 -0.00224644" quat="1 1 0 0"/>
<body name="head" pos="0.00100175 0.13 -0.00449288">
<camera name="egocentric" pos="0 0 0" xyaxes="-1 0 0 0 1 0" fovy="80"/>
<joint name="headrz" pos="0 0 0" axis="0 0 1" range="-0.523599 0.523599" class="stiff_medium_higher"/>
<joint name="headry" pos="0 0 0" axis="0 1 0" range="-0.523599 0.523599" class="stiff_medium_higher"/>
<joint name="headrx" pos="0 0 0" axis="1 0 0" range="-0.349066 0.785398" class="stiff_medium_higher"/>
<geom name="head" size="0.095 0.024104" pos="0.000341465 0.048184 0.025" quat="1 1 0 0"/>
</body>
</body>
</body>
<body name="lclavicle" pos="0 0.113945 0.00468037">
<joint name="lclaviclerz" pos="0 0 0" axis="0 0 1" range="0 0.349066" class="stiff_high"/>
<joint name="lclaviclery" pos="0 0 0" axis="0 1 0" range="-0.349066 0.174533" class="stiff_high"/>
<geom name="lclavicle" size="0.075 0.06" pos="0.0918817 0.0382636 0.00535704" quat="0.688 0.279 -0.67 0"/>
<body name="lhumerus" pos="0.18 0.09 0.0107141" quat="0.183013 0.683013 -0.683013 0.183013">
<joint name="lhumerusrz" pos="0 0 0" axis="0 0 1" range="-1.1 1.5708" class="stiff_medium"/>
<joint name="lhumerusry" pos="0 0 0" axis="0 1 0" range="-1.5708 1.5708" class="stiff_medium"/>
<joint name="lhumerusrx" pos="0 0 0" axis="1 0 0" range="-1.0472 1.5708" class="stiff_medium"/>
<site name="lhumerus_ft" class="sensor_site"/>
<geom name="lhumerus" size="0.042 0.1245789" pos="0 -0.138421 0" quat="0.612372 -0.612372 0.353553 0.353553"/>
<body name="lradius" pos="0 -0.276843 0">
<joint name="lradiusrx" pos="0 0 0" axis="1 0 0" range="-0.174533 2.96706"/>
<geom name="lradius" size="0.03 0.08169111" pos="0 -0.0907679 0" quat="0.612372 -0.612372 0.353553 0.353553"/>
<site name="lwrist" pos="0 -0.181536 0" quat="-0.5 0 0.866025 0"/>
<body name="lwrist" pos="0 -0.181536 0" quat="-0.5 0 0.866025 0">
<joint name="lwristry" pos="0 0 0" axis="0 1 0" range="0 3.14159"/>
<geom name="lwrist" size="0.02 0.03" pos="0 -0.03 0" quat="1.59389e-11 -1.59388e-11 -0.707107 -0.707107"/>
<body name="lhand" pos="0 -0.0907676 0">
<joint name="lhandrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
<joint name="lhandrx" pos="0 0 0" axis="1 0 0" range="-1.5708 1.5708"/>
<site name="lhand_touch" size=".012 0.005 0.015" pos="0 -0.016752 -0.02" quat="0 0 -1 -1" type="ellipsoid" class="sensor_site"/>
<geom name="lhand" size="0.035 0.02 0.045" pos="0 -0.016752 0" quat="0 0 -1 -1" type="ellipsoid" class="contact"/>
<body name="lfingers" pos="0 -0.075 0">
<joint name="lfingersrx" pos="0 0.015 0" axis="1 0 0" range="0 1.5708"/>
<site name="lfingers_touch" type="box" size="0.023 0.013 0.003" pos="0 -0.042 -0.007" class="sensor_site"/>
<geom name="lfinger0" size="0.0065 0.04" pos="-.024 -0.025 0" quat="1 -1 0 0" class="contact"/>
<geom name="lfinger1" size="0.0065 0.04" pos="-.008 -0.03 0" quat="1 -1 0 0" class="contact"/>
<geom name="lfinger2" size="0.006 0.04" pos=".008 -0.03 0" quat="1 -1 0 0" class="contact"/>
<geom name="lfinger3" size="0.0055 0.04" pos=".024 -0.025 0" quat="1 -1 0 0" class="contact"/>
</body>
<body name="lthumb" pos="-.025 0 0" quat="0.92388 0 0 -0.382683">
<joint name="lthumbrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
<joint name="lthumbrx" pos="0 0 0" axis="1 0 0" range="0 1.57"/>
<site name="lthumb_touch" type="box" size="0.006 0.013 0.003" pos="0 -0.043 -0.007" class="sensor_site"/>
<geom name="lthumb" size="0.008 0.03" pos="0 -0.03 0" quat="0 0 -1 -1" class="contact"/>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="rclavicle" pos="0 0.113945 0.00468037">
<joint name="rclaviclerz" pos="0 0 0" axis="0 0 1" range="-0.349066 0" class="stiff_high"/>
<joint name="rclaviclery" pos="0 0 0" axis="0 1 0" range="-0.174533 0.349066" class="stiff_high"/>
<geom name="rclavicle" size="0.075 0.06" pos="-0.0918817 0.0382636 0.00535704" quat="0.688 0.279 0.67 0"/>
<body name="rhumerus" pos="-0.18 0.09 0.0107141" quat="0.183013 0.683013 0.683013 -0.183013">
<joint name="rhumerusrz" pos="0 0 0" axis="0 0 1" range="-1.1 1.5708" class="stiff_medium"/>
<joint name="rhumerusry" pos="0 0 0" axis="0 1 0" range="-1.5708 1.5708" class="stiff_medium"/>
<joint name="rhumerusrx" pos="0 0 0" axis="1 0 0" range="-1.5708 1.0472" class="stiff_medium"/>
<site name="rhumerus_ft" class="sensor_site"/>
<geom name="rhumerus" size="0.042 0.1245789" pos="0 -0.138421 0" quat="0.612372 -0.612372 -0.353553 -0.353553"/>
<body name="rradius" pos="0 -0.276843 0">
<joint name="rradiusrx" pos="0 0 0" axis="1 0 0" range="-0.174533 2.96706"/>
<geom name="rradius" size="0.03 0.08169111" pos="0 -0.0907679 0" quat="0.61238 -0.612372 -0.353554 -0.353541"/>
<body name="rwrist" pos="0 -0.181536 0" quat="-0.5 0 -0.866025 0">
<joint name="rwristry" pos="0 0 0" axis="0 1 0" range="-3.14159 0"/>
<geom name="rwrist" size="0.02 0.03" pos="0 -0.03 0" quat="0 0 1 1"/>
<body name="rhand" pos="0 -0.0907676 0">
<joint name="rhandrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
<joint name="rhandrx" pos="0 0 0" axis="1 0 0" range="-1.5708 1.5708"/>
<site name="rhand_touch" size=".012 0.005 0.015" pos="0 -0.016752 -0.02" quat="0 0 1 1" type="ellipsoid" class="sensor_site"/>
<geom name="rhand" size="0.035 0.02 0.045" pos="0 -0.016752 0" quat="0 0 1 1" type="ellipsoid" class="contact"/>
<body name="rfingers" pos="0 -0.075 0">
<joint name="rfingersrx" pos="0 0.015 0" axis="1 0 0" range="0 1.5708"/>
<site name="rfingers_touch" type="box" size="0.023 0.013 0.003" pos="0 -0.042 -0.007" class="sensor_site"/>
<geom name="rfinger0" size="0.0065 0.04" pos=".024 -0.025 0" quat="1 -1 0 0" class="contact"/>
<geom name="rfinger1" size="0.0065 0.04" pos=".008 -0.03 0" quat="1 -1 0 0" class="contact"/>
<geom name="rfinger2" size="0.006 0.04" pos="-.008 -0.03 0" quat="1 -1 0 0" class="contact"/>
<geom name="rfinger3" size="0.0055 0.04" pos="-.024 -0.025 0" quat="1 -1 0 0" class="contact"/>
</body>
<body name="rthumb" pos=".025 0 0" quat="0.92388 0 0 0.382683">
<joint name="rthumbrz" pos="0 0 0" axis="0 0 1" range="-0.785398 0.785398"/>
<joint name="rthumbrx" pos="0 0 0" axis="1 0 0" range="0 1.57"/>
<site name="rthumb_touch" type="box" size="0.006 0.013 0.003" pos="0 -0.043 -0.007" class="sensor_site"/>
<geom name="rthumb" size="0.008 0.03" pos="0 -0.03 0" quat="6.21773e-11 -6.35284e-11 0.707107 0.707107" class="contact"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="lfemur" body2="root"/>
<exclude body1="rfemur" body2="root"/>
<exclude body1="lclavicle" body2="rclavicle"/>
<exclude body1="lowerneck" body2="lclavicle"/>
<exclude body1="lowerneck" body2="rclavicle"/>
<exclude body1="upperneck" body2="lclavicle"/>
<exclude body1="upperneck" body2="rclavicle"/>
</contact>
<actuator>
<motor name="headrx" joint="headrx" gear="20"/>
<motor name="headry" joint="headry" gear="20"/>
<motor name="headrz" joint="headrz" gear="20"/>
<motor name="lclaviclery" joint="lclaviclery" gear="20"/>
<motor name="lclaviclerz" joint="lclaviclerz" gear="20"/>
<motor name="lfemurrx" joint="lfemurrx" gear="120"/>
<motor name="lfemurry" joint="lfemurry" gear="40"/>
<motor name="lfemurrz" joint="lfemurrz" gear="40"/>
<motor name="lfingersrx" joint="lfingersrx" gear="20"/>
<motor name="lfootrx" joint="lfootrx" gear="20"/>
<motor name="lfootrz" joint="lfootrz" gear="20"/>
<motor name="lhandrx" joint="lhandrx" gear="20"/>
<motor name="lhandrz" joint="lhandrz" gear="20"/>
<motor name="lhumerusrx" joint="lhumerusrx" gear="40"/>
<motor name="lhumerusry" joint="lhumerusry" gear="40"/>
<motor name="lhumerusrz" joint="lhumerusrz" gear="40"/>
<motor name="lowerbackrx" joint="lowerbackrx" gear="40"/>
<motor name="lowerbackry" joint="lowerbackry" gear="40"/>
<motor name="lowerbackrz" joint="lowerbackrz" gear="40"/>
<motor name="lowerneckrx" joint="lowerneckrx" gear="20"/>
<motor name="lowerneckry" joint="lowerneckry" gear="20"/>
<motor name="lowerneckrz" joint="lowerneckrz" gear="20"/>
<motor name="lradiusrx" joint="lradiusrx" gear="40"/>
<motor name="lthumbrx" joint="lthumbrx" gear="20"/>
<motor name="lthumbrz" joint="lthumbrz" gear="20"/>
<motor name="ltibiarx" joint="ltibiarx" gear="80"/>
<motor name="ltoesrx" joint="ltoesrx" gear="20"/>
<motor name="lwristry" joint="lwristry" gear="20"/>
<motor name="rclaviclery" joint="rclaviclery" gear="20"/>
<motor name="rclaviclerz" joint="rclaviclerz" gear="20"/>
<motor name="rfemurrx" joint="rfemurrx" gear="120"/>
<motor name="rfemurry" joint="rfemurry" gear="40"/>
<motor name="rfemurrz" joint="rfemurrz" gear="40"/>
<motor name="rfingersrx" joint="rfingersrx" gear="20"/>
<motor name="rfootrx" joint="rfootrx" gear="20"/>
<motor name="rfootrz" joint="rfootrz" gear="20"/>
<motor name="rhandrx" joint="rhandrx" gear="20"/>
<motor name="rhandrz" joint="rhandrz" gear="20"/>
<motor name="rhumerusrx" joint="rhumerusrx" gear="40"/>
<motor name="rhumerusry" joint="rhumerusry" gear="40"/>
<motor name="rhumerusrz" joint="rhumerusrz" gear="40"/>
<motor name="rradiusrx" joint="rradiusrx" gear="40"/>
<motor name="rthumbrx" joint="rthumbrx" gear="20"/>
<motor name="rthumbrz" joint="rthumbrz" gear="20"/>
<motor name="rtibiarx" joint="rtibiarx" gear="80"/>
<motor name="rtoesrx" joint="rtoesrx" gear="20"/>
<motor name="rwristry" joint="rwristry" gear="20"/>
<motor name="thoraxrx" joint="thoraxrx" gear="40"/>
<motor name="thoraxry" joint="thoraxry" gear="40"/>
<motor name="thoraxrz" joint="thoraxrz" gear="40"/>
<motor name="upperbackrx" joint="upperbackrx" gear="40"/>
<motor name="upperbackry" joint="upperbackry" gear="40"/>
<motor name="upperbackrz" joint="upperbackrz" gear="40"/>
<motor name="upperneckrx" joint="upperneckrx" gear="20"/>
<motor name="upperneckry" joint="upperneckry" gear="20"/>
<motor name="upperneckrz" joint="upperneckrz" gear="20"/>
</actuator>
<sensor>
<velocimeter name="sensor_root_veloc" site="root"/>
<gyro name="sensor_root_gyro" site="root"/>
<accelerometer name="sensor_root_accel" site="root"/>
<touch name="sensor_touch_lhand" site="lhand_touch"/>
<touch name="sensor_touch_lfingers" site="lfingers_touch"/>
<touch name="sensor_touch_lthumb" site="lthumb_touch"/>
<touch name="sensor_touch_rhand" site="rhand_touch"/>
<touch name="sensor_touch_rfingers" site="rfingers_touch"/>
<touch name="sensor_touch_rthumb" site="rthumb_touch"/>
<touch name="sensor_touch_ltoes" site="ltoes_touch"/>
<touch name="sensor_touch_rtoes" site="rtoes_touch"/>
<touch name="sensor_touch_rfoot" site="rfoot_touch"/>
<touch name="sensor_touch_lfoot" site="lfoot_touch"/>
<torque name="sensor_torque_lhumerus" site="lhumerus_ft"/>
<torque name="sensor_torque_rhumerus" site="rhumerus_ft"/>
</sensor>
</mujoco>
| 71.921569 | 165 | 0.573746 |
2e3084468d5f43a7a4381fea1ebb34b60a604ba5 | 7,783 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_020.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_020.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tst_020.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 1.18481069288309">
<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 -0.10124113098196531 0.0 -0.02 0.10124113098196531 0.0" name="butt" size="0.09" type="capsule" />
<body name="right_thigh" pos="0.0 -0.1446301871170933 -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 0.009704981945974552 -0.32996938616313476" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.009704981945974552 -0.3911107724227744">
<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 -0.29779994697354367" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.44669992046031554">
<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 0.1446301871170933 -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 -0.009704981945974552 -0.32996938616313476" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.009704981945974552 -0.3911107724227744">
<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 -0.29779994697354367" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.44669992046031554">
<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 |
2e329712ae8fe83ad7dbfa27bfc4db9c6d81c771 | 6,843 | xml | XML | furniture/env/models/assets/robots/jaco/robot_torque.xml | KejiaChen/assembly | dbaa3eeb40709c4a2033b6a603a68c17e60a0477 | [
"MIT"
] | 364 | 2019-11-20T16:28:39.000Z | 2022-03-28T23:00:19.000Z | furniture/env/models/assets/robots/jaco/robot_torque.xml | KejiaChen/assembly | dbaa3eeb40709c4a2033b6a603a68c17e60a0477 | [
"MIT"
] | 22 | 2019-11-24T08:27:22.000Z | 2022-03-31T23:30:25.000Z | furniture/env/models/assets/robots/jaco/robot_torque.xml | KejiaChen/assembly | dbaa3eeb40709c4a2033b6a603a68c17e60a0477 | [
"MIT"
] | 52 | 2019-11-21T01:01:01.000Z | 2022-03-02T11:52:53.000Z | <!--
Modified by Youngwoon Lee for IKEA Furniture Assembly Environment.
- Remove fingers
- Add sites for compatibility with Robosuite
- Change initial pose and joint axes
- Add velocity actuators
-->
<!-- ======================================================
This file is part of MuJoCo.
Copyright 2009-2016 Roboti LLC.
Model :: Jaco Arm from Kinova Robotics
Source : www.github.com/Kinovarobotics
Downloaded : July 25, 2015
Mujoco :: Advanced physics simulation engine
Source : www.roboti.us
Version : 1.31
Released : 23Apr16
Author :: Vikash Kumar
Contacts : kumar@roboti.us
Last edits : 30Apr16, 30Nov15, 26Sept'15, 26July'15
====================================================== -->
<mujoco model="jaco(v1.31)">
<!-- <compiler angle="radian" />-->
<asset>
<mesh file="meshes/jaco_link_base.stl"/>
<mesh file="meshes/jaco_link_1.stl"/>
<mesh file="meshes/jaco_link_2.stl"/>
<mesh file="meshes/jaco_link_3.stl"/>
<mesh file="meshes/jaco_link_4.stl"/>
<mesh file="meshes/jaco_link_5.stl"/>
<mesh file="meshes/jaco_link_hand.stl"/>
<material name="MatViz" specular="1" shininess=".1" reflectance="0.5" rgba=".07 .07 .1 1"/>
</asset>
<default>
<joint damping="0.2" armature=".01"/>
</default>
<worldbody>
<body name="jaco_link_base" pos="0 0 0.25">
<body name="base" pos="0 0 0">
<inertial pos="-3.14012e-008 0.000451919 0.0770704" quat="1 -0.000920048 6.51183e-006 5.62643e-005" mass="0.787504" diaginertia="0.00187445 0.00186316 0.000676952" />
<geom name="jaco_link_geom_0" mesh="jaco_link_base" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<geom name="jaco_link_geom_0_1" type="capsule" pos="0 0 -0.125" size=".045 0.125" material="MatViz" conaffinity="0" margin="0.001"/>
<body name="jaco_link_1" pos="0 0 0.1535" quat="0 1 0 0">
<inertial pos="-1.14317e-006 0.0102141 -0.0637045" quat="0.702792 0.0778988 -0.0778994 0.702813" mass="0.613151" diaginertia="0.00149348 0.00144012 0.000401632" />
<joint name="jaco_joint_1" axis="0 0 1" />
<geom name="jaco_link_geom_1" mesh="jaco_link_1" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<body name="jaco_link_2" pos="0 0 -0.1185" quat="0.5 -0.5 -0.5 -0.5">
<inertial pos="0.206657 -1.55187e-007 -0.030675" quat="8.97411e-006 0.707331 5.06696e-006 0.706883" mass="1.85031" diaginertia="0.0402753 0.0398125 0.00121953" />
<joint name="jaco_joint_2" axis="0 0 1" />
<geom name="jaco_link_geom_2" mesh="jaco_link_2" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<body name="jaco_link_3" pos="0.41 0 0" quat="0 0 1 0">
<inertial pos="0.0847979 -1.18469e-007 -0.020283" quat="2.33799e-005 0.694869 1.96996e-005 0.719136" mass="0.70372" diaginertia="0.00386732 0.00373181 0.000358773" />
<joint name="jaco_joint_3" axis="0 0 1" />
<geom name="jaco_link_geom_3" mesh="jaco_link_3" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<body name="jaco_link_4" pos="0.207 0 -0.01125" quat="0.707107 0 -0.707107 0">
<inertial pos="0.00914824 4.53141e-008 -0.0370941" quat="0.971237 -1.92989e-005 -0.238115 3.23646e-005" mass="0.227408" diaginertia="0.000176463 0.00017225 0.000108303" />
<joint name="jaco_joint_4" axis="0 0 1" />
<geom name="jaco_link_geom_4" mesh="jaco_link_4" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<body name="jaco_link_5" pos="0.0343 0 -0.06588" quat="0 -0.461749 0 0.887011">
<inertial pos="0.00914824 4.53141e-008 -0.0370941" quat="0.971237 -1.92989e-005 -0.238115 3.23646e-005" mass="0.227408" diaginertia="0.000176463 0.00017225 0.000108303" />
<joint name="jaco_joint_5" axis="0 0 1" />
<geom name="jaco_link_geom_5" mesh="jaco_link_5" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<!-- to add gripper -->
<body name="right_hand" pos="0.0343 0 -0.06588" quat="0 -0.461749 0 0.887011">
<inertial pos="0.0036132 -6.2241e-005 -0.0583749" quat="0.669114 -0.237618 -0.23799 0.66271" mass="0.58074" diaginertia="0.000817146 0.000671192 0.000606807" />
<joint name="jaco_joint_6" axis="0 0 1" />
<geom name="jaco_link_geom_6" mesh="jaco_link_hand" rgba=".13 .13 .13 1" material="MatViz" type="mesh" conaffinity="0" margin="0.001"/>
<!-- This sites were added for visualization. -->
<site name="ee" pos="0 0 0" size="0.01 0.01 0.01" rgba="0 0 1 1" type="sphere" group="1"/>
<site name="ee_x" pos="0 0 0" size="0.005 .1" quat="0.707105 0.707108 0 0 " rgba="1 0 0 1" type="cylinder" group="1"/>
<site name="ee_z" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0 0.707108" rgba="0 0 1 1" type="cylinder" group="1"/>
<site name="ee_y" pos="0 0 0" size="0.005 .1" quat="0.707105 0 0.707108 0 " rgba="0 1 0 1" type="cylinder" group="1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- ================= Torque actuators (Weren't present in the URDF. Added seperately)================= /-->
<motor joint='jaco_joint_1' name='torq_right_j1' gear="50"/>
<motor joint='jaco_joint_2' name='torq_right_j2' gear="100"/>
<motor joint='jaco_joint_3' name='torq_right_j3' gear="100"/>
<motor joint='jaco_joint_4' name='torq_right_j4' gear="50"/>
<motor joint='jaco_joint_5' name='torq_right_j5' gear="50"/>
<motor joint='jaco_joint_6' name='torq_right_j6' gear="50"/>
</actuator>
</mujoco>
| 62.779817 | 208 | 0.517609 |
2e3357eea6940836541e09e44d75d9f0a9a0eacd | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9185_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9185_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9185_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="0.007342316445418342 0.007342316445418342 0.007342316445418342" />
</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="0.02032538952697866 0.04659709353129183 0.020369652681669865">
<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="-0.0002257830124115151 -0.00024312337349850446 -0.0004886401044953926" rgba="1 0 0 0" size="0.01016269476348933 0.023298546765645915 0.010184826340834932" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.243902 | 203 | 0.670615 |
2e347f6bddaf9b3b3901d40e2e880a86258e259a | 1,468 | xml | XML | gym/envs/robotics/assets/fetch/slide_switch.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/slide_switch.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/slide_switch.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <?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="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 0" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<!-- <body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body> -->
<body name="table" pos="1.3 0.75 0.2">
<joint name="table:joint" type="free" damping="0.01"></joint>
<geom size="0.25 0.5 0.2" type="box" mass="2000" material="table_mat"></geom>
<body name="switch" pos="0 0 0.2">
<joint name="switch" type="slide" pos="0 0 0" axis="0 1 0" range="0 0.2" damping="5" frictionloss="50"></joint>
<geom size="0.025 0.025 0.05" pos="0 0 0" type="box" mass="2" material="block_mat"></geom>
<site name="switch" pos="0 0 0" size="0.03 0.03 0.03" rgba="0 1 0 0" type="sphere"></site>
</body>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
</mujoco>
| 41.942857 | 161 | 0.610354 |
2e36bb26c863c3bc3f5c76a6e2718e0cd9b7bd39 | 3,060 | xml | XML | local_dm_control_suite_off_center/walker.xml | UtkarshMishra04/pixel-representations-RL | 8f457adcf41eb3b8975eaa5a752736c07b908c63 | [
"MIT"
] | 2 | 2021-10-31T05:12:19.000Z | 2021-12-16T11:56:12.000Z | local_dm_control_suite_off_center/walker.xml | UtkarshMishra04/pixel-representations-RL | 8f457adcf41eb3b8975eaa5a752736c07b908c63 | [
"MIT"
] | null | null | null | local_dm_control_suite_off_center/walker.xml | UtkarshMishra04/pixel-representations-RL | 8f457adcf41eb3b8975eaa5a752736c07b908c63 | [
"MIT"
] | null | null | null | <mujoco model="planar walker">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials_white_floor.xml"/>
<option timestep="0.0025"/>
<statistic extent="2" center="0 0 1"/>
<default>
<joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01"/>
<geom contype="1" conaffinity="0" friction=".7 .1 .1"/>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<site size="0.01"/>
<default class="walker">
<geom material="self" type="capsule"/>
<joint axis="0 -1 0"/>
</default>
</default>
<worldbody>
<geom name="floor" type="plane" conaffinity="1" pos="248 0 0" size="250 .8 .2" material="grid" zaxis="0 0 1"/>
<body name="torso" pos="0 0 1.3" childclass="walker">
<light name="light" pos="0 0 2" mode="trackcom"/>
<camera name="side" pos="1.2 -4.5 1.1" euler="60 0 0" mode="trackcom"/>
<!-- <camera name="side" pos="0 -2 .7" euler="60 0 0" mode="trackcom"/> -->
<camera name="back" pos="-2 0 .5" xyaxes="0 -1 0 1 0 3" mode="trackcom"/>
<joint name="rootz" axis="0 0 1" type="slide" limited="false" armature="0" damping="0"/>
<joint name="rootx" axis="1 0 0" type="slide" limited="false" armature="0" damping="0"/>
<joint name="rooty" axis="0 1 0" type="hinge" limited="false" armature="0" damping="0"/>
<geom name="torso" size="0.07 0.3"/>
<body name="right_thigh" pos="0 -.05 -0.3">
<joint name="right_hip" range="-20 100"/>
<geom name="right_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
<body name="right_leg" pos="0 0 -0.7">
<joint name="right_knee" pos="0 0 0.25" range="-150 0"/>
<geom name="right_leg" size="0.04 0.25"/>
<body name="right_foot" pos="0.06 0 -0.25">
<joint name="right_ankle" pos="-0.06 0 0" range="-45 45"/>
<geom name="right_foot" zaxis="1 0 0" size="0.05 0.1"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 .05 -0.3" >
<joint name="left_hip" range="-20 100"/>
<geom name="left_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
<body name="left_leg" pos="0 0 -0.7">
<joint name="left_knee" pos="0 0 0.25" range="-150 0"/>
<geom name="left_leg" size="0.04 0.25"/>
<body name="left_foot" pos="0.06 0 -0.25">
<joint name="left_ankle" pos="-0.06 0 0" range="-45 45"/>
<geom name="left_foot" zaxis="1 0 0" size="0.05 0.1"/>
</body>
</body>
</body>
</body>
</worldbody>
<sensor>
<subtreelinvel name="torso_subtreelinvel" body="torso"/>
</sensor>
<actuator>
<motor name="right_hip" joint="right_hip" gear="100"/>
<motor name="right_knee" joint="right_knee" gear="50"/>
<motor name="right_ankle" joint="right_ankle" gear="20"/>
<motor name="left_hip" joint="left_hip" gear="100"/>
<motor name="left_knee" joint="left_knee" gear="50"/>
<motor name="left_ankle" joint="left_ankle" gear="20"/>
</actuator>
</mujoco>
| 42.5 | 114 | 0.570915 |
2e3831dbbe592fa405489609c755b639ae2fc62b | 1,773 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1214_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1214_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1214_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/121/121.stl" name="obj0" scale="0.013576403824428747 0.013576403824428747 0.013576403824428747" />
</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="0.034797443055326394 0.10117071642046135 0.036945243716754846">
<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="-0.0009497713007865314 -0.022179313137051782 -0.00014656859358622428" rgba="1 0 0 0" size="0.017398721527663197 0.05058535821023068 0.018472621858377423" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.243902 | 202 | 0.670615 |
2e39b5eee78c9408a4ab4665b173bf726bdbc5fe | 2,715 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/53_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/53_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/53_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/005/005.stl" name="obj0" scale="0.004126584847149492 0.004126584847149492 0.004126584847149492" />
</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="0.008713552132771215 0.04 0.015903430899382464" 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="-0.0018186949756401577 -0.021320991880165906 0.04998719760085976" size="0.015375849950664 0.015842061683183428 0.053317056833502" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0013957250571089745 -0.02130264546740948 0.005383692900128982" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0018186949756401577 -0.021320991880165906 0.03998719760085976" 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 | 218 | 0.655985 |
2e39b62e65a4c50e1020eb11ee6f7d310ccd8fd2 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3171_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3171_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3171_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/317/317.stl" name="obj0" scale="0.00291442896406718 0.00291442896406718 0.00291442896406718" />
</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="0.02497633854929865 0.031030018442150115 0.008559247989193108">
<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="-0.004375094029861809 -0.012554121968933005 0.0010763419925290318" rgba="1 0 0 0" size="0.012488169274649324 0.015515009221075057 0.004279623994596554" 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 | 0.670249 |
2e39f49daf0d2dc4c14be8715f529b4cfde04c42 | 4,890 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_390.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_390.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_390.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="0.0028222018193585115 0.038440015085509524 0.0007902171735002065" pos="-0.1289753732510658 0.07130164986711113 0.2007902171735002" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.02148621220388934 0.036183628274479365 0.00125744228853805" pos="-0.24104439592269508 -0.02641085089732137 0.20125744228853806" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.011955474098266586 0.009925562081618655 0.004490672439292004" pos="0.0933486730047014 0.16912322759232495 0.204490672439292" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04742360599578098 0.0011014998405805736 0.0011237287596788793" pos="0.2524428945883486 -0.0599064345004206 0.20112372875967888" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04710967469328218 0.034534710660992396 0.0033777933105993046" pos="-0.06606353311613317 -0.05494789610459211 0.20337779331059933" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03387482224175737 0.03874964120536834 0.0007832324375770186" pos="0.22967453705386204 0.13378237428857848 0.20078323243757704" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04348302472070694 0.02064521734347983 0.0007719542299497704" pos="-0.08398011973517552 -0.22316225183776978 0.20077195422994978" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.025690911224904217 0.0036720256094324166 0.003886016422075308" pos="-0.08332728406436543 -0.17300514269982212 0.20388601642207532" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.03732051783610176 0.0022558556499248303 0.0004100546980272695" pos="0.031904608144572744 -0.2629113645061148 0.20041005469802728" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.0270904460044025 0.0483579844141634 0.0019955361063038455" pos="0.12178608065385221 -0.10868312461475815 0.20199553610630386" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
<geom size="0.04251841870896902 0.049343685313034354 0.004004275778855613" pos="0.06565852631957936 0.2919779032968019 0.20400427577885563" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom>
</body>
<body pos="1.0690048680764999 0.68789847576015 0.4129999999999999" name="object0">
<light castshadow="false"/>
<geom type="mesh" density="2603.60483257" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/>
<joint name="object0:joint" type="free" damping="1.6018799962417554"></joint>
<site name="object0" pos="0.30599513192350014 -0.002898475760149899 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="0.003362999464825 0.003362999464825 0.003362999464825" file="mujoco_models/wacom_intuos_draw_pen_holder.stl" name="object_mesh"/>
<texture file="textures/obj_textures/stained_0094.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>
| 81.5 | 283 | 0.685276 |
2e3b1a348a38af12c2a6e60a12e92ba838ffda12 | 1,459 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5818_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5818_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5818_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/581/581.stl" name="obj0" scale="0.0072767300272293615 0.0072767300272293615 0.0072767300272293615" />
</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="0.025557742336881503 0.06149881811440722 0.23864313666180675">
<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 |
2e3d6ad7a2669bf70566556b6149fe83724bdfec | 4,991 | xml | XML | body_mnist/exp_add_diff_help/envs/4.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/exp_add_diff_help/envs/4.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/exp_add_diff_help/envs/4.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | <mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
</custom>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<worldbody>
<body name="torso" pos="0 0 0.5844563432540124">
<geom name="torso_geom" pos="0 0 0" size="0.08445634325401236" type="sphere"/>
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2684575851730145 0.2684575851730145 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.2684575851730145 0.2684575851730145 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 0.2684575851730145 0.2684575851730145 0.0" name="left_leg_geom" size="0.07332779214358458" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.2684575851730145 0.2684575851730145 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 0.36012816149974164 0.36012816149974164 0.0" name="left_ankle_geom" size="0.06469358769900285" 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 -0.2684575851730145 0.2684575851730145 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.2684575851730145 0.2684575851730145 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 -0.2684575851730145 0.2684575851730145 0.0" name="right_leg_geom" size="0.07332779214358458" type="capsule"/>
<body pos="-0.2684575851730145 0.2684575851730145 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 -0.36012816149974164 0.36012816149974164 0.0" name="right_ankle_geom" size="0.06469358769900285" type="capsule"/>
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2684575851730145 -0.2684575851730145 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.2684575851730145 -0.2684575851730145 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 -0.2684575851730145 -0.2684575851730145 0.0" name="back_leg_geom" size="0.07332779214358458" type="capsule"/>
<body pos="-0.2684575851730145 -0.2684575851730145 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 -0.36012816149974164 -0.36012816149974164 0.0" name="third_ankle_geom" size="0.06469358769900285" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2684575851730145 -0.2684575851730145 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.2684575851730145 -0.2684575851730145 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 0.2684575851730145 -0.2684575851730145 0.0" name="rightback_leg_geom" size="0.07332779214358458" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.2684575851730145 -0.2684575851730145 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 0.36012816149974164 -0.36012816149974164 0.0" name="fourth_ankle_geom" size="0.06469358769900285" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
</actuator>
</mujoco>
| 68.369863 | 170 | 0.624123 |
2e3dd51c863ab2be5ed704192838a93fcf44e3cc | 2,561 | xml | XML | multiworld/envs/assets/sawyer_xyz/sawyer_multiPush.xml | Neo-X/R_multiworld | 839513a48ddf2f5ae2eadc43435ac6981ddea1f4 | [
"MIT"
] | null | null | null | multiworld/envs/assets/sawyer_xyz/sawyer_multiPush.xml | Neo-X/R_multiworld | 839513a48ddf2f5ae2eadc43435ac6981ddea1f4 | [
"MIT"
] | null | null | null | multiworld/envs/assets/sawyer_xyz/sawyer_multiPush.xml | Neo-X/R_multiworld | 839513a48ddf2f5ae2eadc43435ac6981ddea1f4 | [
"MIT"
] | 2 | 2020-06-02T05:24:03.000Z | 2020-07-07T17:01:42.000Z | <?xml version="1.0" encoding="utf-8"?>
<mujoco>
<include file="shared_config.xml"></include>
<worldbody>
<camera name="robotview" pos="0.0 0.95 0.95" euler="-0.392699 0.0 3.14159" />
<!-- <camera name="robotview" pos="0.0 1.2 0.6" euler="-0.78 0.0 3.14159" /> -->
<camera name="robotview_zoomed" pos="0.0 1.3 0.5" euler="-0.78 0.0 3.14159" />
<include file="sawyer_xyz_base.xml"></include>
<body name="obj1" pos="-0.1 0.6 0.02">
<joint name="obj1joint" type="free" limited='false' damping="0" armature="0" />
<inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
<geom name="obj1Geom" type="box" pos="0 0 0"
size="0.02 0.02 0.02" rgba="0 0 1 1"
contype="1" conaffinity="1" friction="1 0.1 0.002" condim="3"
/>
<!-- <site name="obj" pos="0 0 0" size="0.01" /> -->
</body>
<body name="obj2" pos="0.1 0.6 0.02">
<joint name="obj2joint" type="free" limited='false' damping="0" armature="0" />
<inertial pos="0 0 0" mass="0.01" diaginertia="100000 100000 100000"/>
<geom name="obj2Geom" type="box" pos="0 0 0"
size="0.02 0.02 0.02" rgba="0 0 1 1"
contype="1" conaffinity="1" friction="1 0.1 0.002" condim="3"
/>
<!-- <site name="obj" pos="0 0 0" size="0.01" /> -->
</body>
<site name="goal" pos="0.3 0.9 0.02" size="0.02"
rgba="1 0.5 0.5 1"/>
<!-- <site name="goal_m1" pos="0.17 0.85 0.02" size="0.02"
rgba="1 0 0 1"/>
<site name="goal_m2" pos="-0.17 0.85 0.02" size="0.02"
rgba="1 0 0 1"/>
<site name="goal_m3" pos="0.17 0.45 0.02" size="0.02"
rgba="1 0 0 1"/>
<site name="goal_m4" pos="-0.17 0.45 0.02" size="0.02"
rgba="1 0 0 1"/>
<site name="goal_m5" pos="0.17 0.6 0.02" size="0.02"
rgba="1 0 0 1"/>
<site name="goal_m6" pos="-0.17 0.6 0.02" size="0.02"
rgba="1 0 0 1"/> -->
</worldbody>
<sensor>
<touch name='rightclaw_sensor' site='rightEndEffector'/>
<touch name='leftclaw_sensor' site='leftEndEffector'/>
</sensor>
<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>
</mujoco>
| 35.082192 | 91 | 0.499805 |
2e3f9cc6a7378862d5f9fa84ae564c43f5a64a06 | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3079_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3079_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3079_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="0.005397807896681774 0.005397807896681774 0.005397807896681774" />
</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="0.03561261516380295 0.03745240400730797 0.2359823164244546">
<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 |
2e425434123450cd3e1ec16b94d5ca943c19eb0e | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6790_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6790_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6790_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/679/679.stl" name="obj0" scale="0.004524120916438426 0.004524120916438426 0.004524120916438426" />
</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="0.0264187443392906 0.04232293175341703 0.21262511814625462">
<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 |
2e4389982d6036b34e1541b87a2a9f047ed5ac07 | 2,711 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4100_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4100_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4100_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/410/410.stl" name="obj0" scale="0.004508015222891206 0.004508015222891206 0.004508015222891206" />
</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="0.026250515252052433 0.04 0.023360854954103054" 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="0.00408368362880216 -0.018972647017931825 0.02844647619075883" size="0.02410283330321339 0.02539159790217111 0.04391698039412479" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="0.0033269591995474437 -0.01844915721120727 0.007890350750737097" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.00408368362880216 -0.018972647017931825 0.01844647619075883" 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> | 50.203704 | 218 | 0.656584 |
2e4476476f3e13a8b4e664a94f345416eb0483d9 | 7,783 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_045.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_045.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
"Apache-2.0"
] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_045.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 1.4135900302899596">
<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 -0.07722322157156274 0.0 -0.02 0.07722322157156274 0.0" name="butt" size="0.09" type="capsule" />
<body name="right_thigh" pos="0.0 -0.11031888795937533 -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 0.013626594098243882 -0.46330419934029204" name="right_thigh1" size="0.06" type="capsule" />
<body name="right_shin" pos="0.0 0.013626594098243882 -0.5491517421592285">
<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 -0.3449588587538208" name="right_shin1" size="0.049" type="capsule" />
<body name="right_foot" pos="0.0 0.0 -0.5174382881307312">
<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 0.11031888795937533 -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 -0.013626594098243882 -0.46330419934029204" name="left_thigh1" size="0.06" type="capsule" />
<body name="left_shin" pos="0.0 -0.013626594098243882 -0.5491517421592285">
<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 -0.3449588587538208" name="left_shin1" size="0.049" type="capsule" />
<body name="left_foot" pos="0.0 0.0 -0.5174382881307312">
<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 |
2e45cf35c7243260e8e7f92a3d846d37459ec325 | 5,025 | xml | XML | body_mnist/workable-bodies/envs/61.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/61.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/61.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | <mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
</custom>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<worldbody>
<body name="torso" pos="0 0 0.73093465064186">
<geom name="torso_geom" pos="0 0 0" size="0.21051504859665496" type="sphere"/>
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.17322664631060336 0.17322664631060336 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.17322664631060336 0.17322664631060336 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 0.17322664631060336 0.17322664631060336 0.0" name="left_leg_geom" size="0.1080441705316296" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.17322664631060336 0.17322664631060336 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 0.28719886685299933 0.28719886685299933 0.0" name="left_ankle_geom" size="-0.019312361092958072" 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 -0.17322664631060336 0.17322664631060336 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.17322664631060336 0.17322664631060336 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 -0.17322664631060336 0.17322664631060336 0.0" name="right_leg_geom" size="0.1080441705316296" type="capsule"/>
<body pos="-0.17322664631060336 0.17322664631060336 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 -0.28719886685299933 0.28719886685299933 0.0" name="right_ankle_geom" size="-0.019312361092958072" type="capsule"/>
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.17322664631060336 -0.17322664631060336 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.17322664631060336 -0.17322664631060336 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 -0.17322664631060336 -0.17322664631060336 0.0" name="back_leg_geom" size="0.1080441705316296" type="capsule"/>
<body pos="-0.17322664631060336 -0.17322664631060336 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 -0.28719886685299933 -0.28719886685299933 0.0" name="third_ankle_geom" size="-0.019312361092958072" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.17322664631060336 -0.17322664631060336 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.17322664631060336 -0.17322664631060336 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 0.17322664631060336 -0.17322664631060336 0.0" name="rightback_leg_geom" size="0.1080441705316296" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.17322664631060336 -0.17322664631060336 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 0.28719886685299933 -0.28719886685299933 0.0" name="fourth_ankle_geom" size="-0.019312361092958072" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
</actuator>
</mujoco>
| 68.835616 | 172 | 0.625871 |
2e45d0a2be3d8cc0463640d2ab5ff38cfd2e86e5 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2629_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2629_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2629_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/262/262.stl" name="obj0" scale="0.004497593128503488 0.004497593128503488 0.004497593128503488" />
</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="0.025796829165581504 0.02973565256778254 0.023968440621423497">
<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="0.004359561120378655 -0.006183235276042609 0.003798063217441094" rgba="1 0 0 0" size="0.012898414582790752 0.01486782628389127 0.011984220310711748" 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 |
2e46660110a7bd1161dc185c37ecd2ec5de8cfcc | 1,317 | xml | XML | gym_kuka_mujoco/envs/assets/full_peg_insertion_experiment_no_gravity_moving_hole_id=096.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_no_gravity_moving_hole_id=096.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_no_gravity_moving_hole_id=096.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="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=0-006815_outer=0-10_height=0-05_num_facets=16_id=096.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
| 27.4375 | 107 | 0.59757 |
2e475f96cd2f066945747129bb8c032f21c56e11 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5771_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5771_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5771_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/577/577.stl" name="obj0" scale="0.015152586391669587 0.015152586391669587 0.015152586391669587" />
</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="0.027393830596975737 0.09399576641688889 0.2120720125441908">
<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 |
2e47e20427a8aec032ee5cda68b2daf011a2b572 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6469_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6469_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6469_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/646/646.stl" name="obj0" scale="0.008364584709297261 0.008364584709297261 0.008364584709297261" />
</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="0.021150203750015913 0.05048243514804868 0.011358039550675245">
<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="-0.0002832753956839371 -0.0011726011640664391 -8.97687083634671e-05" rgba="1 0 0 0" size="0.010575101875007957 0.02524121757402434 0.005679019775337623" 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 | 0.669865 |
2e4806e598835b81341e17de0a28e493a3f9145a | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6530_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6530_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6530_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/653/653.stl" name="obj0" scale="0.008050480714821237 0.008050480714821237 0.008050480714821237" />
</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="0.03385558417863745 0.05712403349733815 0.03878057041217864">
<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="0.0045326005150957424 -0.031117995575290908 -0.004939176824468345" rgba="1 0 0 0" size="0.016927792089318727 0.028562016748669074 0.01939028520608932" 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 | 199 | 0.670249 |
2e484b9a32899c418bd7353e48485ce37ba1eb2f | 9,397 | xml | XML | MTRF/r3l/r3l/r3l_envs/inhand_env/assets/pipe.xml | facebookresearch/MTRF | 2fee8f3f1c2150fcecc2db2fa9e122a664a72d72 | [
"Apache-2.0"
] | 2 | 2021-11-29T10:09:56.000Z | 2022-02-01T05:48:32.000Z | MTRF/r3l/r3l/r3l_envs/inhand_env/assets/pipe.xml | facebookresearch/MTRF | 2fee8f3f1c2150fcecc2db2fa9e122a664a72d72 | [
"Apache-2.0"
] | null | null | null | MTRF/r3l/r3l/r3l_envs/inhand_env/assets/pipe.xml | facebookresearch/MTRF | 2fee8f3f1c2150fcecc2db2fa9e122a664a72d72 | [
"Apache-2.0"
] | null | null | null | <mujocoinclude name='pipe'>
<body name="pipe" pos="0 0 0" euler="1.57 0 0">
<!-- visuals -->
<!-- <geom type="cylinder" size="0.070 0.2" pos="0 0 0.000" group="1" contype="0" conaffinity="0" rgba=".21 .3 .2 1"/>
<geom type="cylinder" size="0.072 0.02" pos="0 0 0.185" group="1" contype="0" conaffinity="0" rgba=".4 .2 .4 1"/>
<geom type="cylinder" size="0.042 0.02" pos="0 0 0.187" group="1" contype="0" conaffinity="0" rgba='0.58 0.65 0.65 1'/> -->
<geom type="box" pos="0.05 0 0.00" size="0.01 0.025 0.2" euler="0 0 0" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.05 0 0.00" size="0.01 0.025 0.2" euler="0 0 0" rgba=".56 .76 .47 1" group='1' contype="0" conaffinity="0"/>
<geom type="box" pos="0 0.05 0.00" size="0.01 0.025 0.2" euler="0 0 1.57" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0 -.05 0.00" size="0.01 0.025 0.2" euler="0 0 1.57" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.0354 0.0354 0.00" size="0.01 0.025 0.2" euler="0 0 0.785" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.0354 -.0354 0.00" size="0.01 0.025 0.2" euler="0 0 0.785" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.0354 .0354 0.00" size="0.01 0.025 0.2" euler="0 0 -.785" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.0354 -.0354 0.00" size="0.01 0.025 0.2" euler="0 0 -.785" rgba=".21 .3 .2 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.07 0 0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.07 0 0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0 0.07 0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0 -.07 0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.0495 0.0495 0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.0495 -.0495 0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.0495 .0495 0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.0495 -.0495 0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba=".4 .2 .4 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.07 0 -0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba='0.14 0.36 0.86 1' group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.07 0 -0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba='0.14 0.36 0.86 1' group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0 0.07 -0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba='0.14 0.36 0.86 1' group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0 -.07 -0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba='0.14 0.36 0.86 1' group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.0495 0.0495 -0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba='0.14 0.36 0.86 1' group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.0495 -.0495 -0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba='0.14 0.36 0.86 1' group='1' contype="0" conaffinity="0" />
<geom type="box" pos="-.0495 .0495 -0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba="0.14 0.36 0.86 1" group='1' contype="0" conaffinity="0" />
<geom type="box" pos="0.0495 -.0495 -0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba="0.14 0.36 0.86 1" group='1' contype="0" conaffinity="0" />
<!-- collisions -->
<geom type="box" pos="0.05 0 0.00" size="0.01 0.025 0.2" euler="0 0 0" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="-.05 0 0.00" size="0.01 0.025 0.2" euler="0 0 0" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="0 0.05 0.00" size="0.01 0.025 0.2" euler="0 0 1.57" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="0 -.05 0.00" size="0.01 0.025 0.2" euler="0 0 1.57" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="0.0354 0.0354 0.00" size="0.01 0.025 0.2" euler="0 0 0.785" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="-.0354 -.0354 0.00" size="0.01 0.025 0.2" euler="0 0 0.785" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="-.0354 .0354 0.00" size="0.01 0.025 0.2" euler="0 0 -.785" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<geom type="box" pos="0.0354 -.0354 0.00" size="0.01 0.025 0.2" euler="0 0 -.785" rgba=".21 .3 .2 1" group='4' contype="1" conaffinity="0" mass="0.050" />
<!-- <geom type="box" pos="0.07 0 0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="-.07 0 0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0 0.07 0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0 -.07 0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0.0495 0.0495 0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="-.0495 -.0495 0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="-.0495 .0495 0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0.0495 -.0495 0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba=".4 .2 .4 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0.07 0 -0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba='0.14 0.36 0.86 1' group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="-.07 0 -0.185" size="0.01 0.032 0.025" euler="0 0 0" rgba='0.14 0.36 0.86 1' group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0 0.07 -0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba='0.14 0.36 0.86 1' group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0 -.07 -0.185" size="0.01 0.032 0.025" euler="0 0 1.57" rgba='0.14 0.36 0.86 1' group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0.0495 0.0495 -0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba='0.14 0.36 0.86 1' group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="-.0495 -.0495 -0.185" size="0.01 0.032 0.025" euler="0 0 0.785" rgba='0.14 0.36 0.86 1' group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="-.0495 .0495 -0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba="0.14 0.36 0.86 1" group='4' contype="1" conaffinity="0" mass="0.00625" />
<geom type="box" pos="0.0495 -.0495 -0.185" size="0.01 0.032 0.025" euler="0 0 -.785" rgba="0.14 0.36 0.86 1" group='4' contype="1" conaffinity="0" mass="0.00625" /> -->
<!-- <geom type="box" pos="0.05 0 0.00" size="0.01 0.025 0.2" euler="0 0 0" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="-.05 0 0.00" size="0.01 0.025 0.2" euler="0 0 0" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="0 0.05 0.00" size="0.01 0.025 0.2" euler="0 0 1.57" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="0 -.05 0.00" size="0.01 0.025 0.2" euler="0 0 1.57" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="0.0354 0.0354 0.00" size="0.01 0.025 0.2" euler="0 0 0.785" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="-.0354 -.0354 0.00" size="0.01 0.025 0.2" euler="0 0 0.785" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="-.0354 .0354 0.00" size="0.01 0.025 0.2" euler="0 0 -.785" contype="1" conaffinity="0" group='4' mass="0.050"/>
<geom type="box" pos="0.0354 -.0354 0.00" size="0.01 0.025 0.2" euler="0 0 -.785" contype="1" conaffinity="0" group='4' mass="0.050"/> -->
<!-- sites -->
<site name="rod_center" type="sphere" size="0.0405" pos="0 0 0.05" rgba=".4 .4 .4 0.25" />
<site name="rod_left" type="sphere" size="0.041" pos="0 0 0.165" rgba="0 0 0 0"/>
<site name="rod_right" type="sphere" size="0.041" pos="0 0 -0.165" rgba="1 1 1 0"/>
<site name="rod_normal" type="sphere" size="0.041" pos="1.0 0 0" rgba="1 1 1 0"/>
<site name="rod_parallel" type="sphere" size="0.041" pos="0 0 1.0" rgba="1 1 1 0"/>
</body>
</mujocoinclude>
| 116.012346 | 173 | 0.58242 |
2e486d10006816b8bc18979325c069be9b5eaedb | 15,307 | xml | XML | gym-kinova-gripper/gym_kinova_gripper/envs/kinova_description/j2s7s300_end_effector_v1_Vase2S.xml | OSUrobotics/KinovaGrasping | f22af60d3683fdc4ffecf49ccff179fbc6750748 | [
"Linux-OpenIB"
] | 16 | 2020-05-16T00:40:31.000Z | 2022-02-22T11:59:03.000Z | gym-kinova-gripper/gym_kinova_gripper/envs/kinova_description/j2s7s300_end_effector_v1_Vase2S.xml | OSUrobotics/KinovaGrasping | f22af60d3683fdc4ffecf49ccff179fbc6750748 | [
"Linux-OpenIB"
] | 9 | 2020-08-10T08:33:55.000Z | 2021-08-17T02:10:50.000Z | gym-kinova-gripper/gym_kinova_gripper/envs/kinova_description/j2s7s300_end_effector_v1_Vase2S.xml | OSUrobotics/KinovaGrasping | f22af60d3683fdc4ffecf49ccff179fbc6750748 | [
"Linux-OpenIB"
] | 7 | 2020-07-27T09:45:05.000Z | 2021-06-21T21:42:50.000Z | <!--
Author: Yi Herng Ong
Purpose: XML model of j2s7s300 kinova jaco arm
Set time step to 0.002 to correspond 500 Hz of Kinova arm
-->
<mujoco model="j2s7s300">
<compiler angle="radian" meshdir="meshes/" />
<option timestep ="0.01" impratio="5">
</option>
<!-- <size njmax="500" nconmax="100" /> -->
<asset>
<!-- Arm -->
<mesh name="base" file="base.STL" />
<mesh name="link_1" file="shoulder.STL" />
<mesh name="link_2" file="arm_half_1.STL" />
<mesh name="link_3" file="arm_half_2.STL" />
<mesh name="link_4" file="forearm.STL" />
<mesh name="link_5" file="wrist_spherical_1.STL" />
<mesh name="link_6" file="wrist_spherical_2.STL" />
<mesh name="link_7" file="hand_3finger.STL" />
<!-- Fingers -->
<mesh name="finger_distal" file="finger_distal.STL"/>
<mesh name="finger_proximal" file="finger_proximal.STL"/>
<mesh name="Large_hourglass" file="Large_hglass.STL" scale="0.001 0.001 0.001"/>
<mesh name="Medium_hourglass" file="Medium_hglass.STL" scale="0.001 0.001 0.001"/>
<mesh name="Small_hourglass" file="Small_hglass.STL" scale="0.001 0.001 0.001"/>
<!-- Object -->
<mesh name="Vase2S" file="Vase2S.stl" scale="0.001 0.001 0.001"/>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="1 1 1" width="100" height="100"/>
<texture name="groundplane" type="2d" builtin="checker" rgb1=".25 .26 .25"
rgb2=".22 .22 .22" width="100" height="100" mark="none" markrgb=".8 .8 .8"/>
<material name="MatViz" specular="1" shininess=".1" reflectance="0.5" rgba=".07 .07 .1 1"/>
<material name="MatGnd" texture="groundplane" texrepeat="5 5" specular="1" shininess=".3" reflectance="0.00001"/>
</asset>
<default>
<geom margin="0.001"/>
<joint limited="false" damping="0.2" armature=".01"/>
<!--geom class for visual and collision geometry-->
<!-- <default class ="vizNcoll">
<geom material="MatViz" type="mesh" group="0" contype="1" conaffinity="0"/>
<joint pos="0 0 0" type="hinge"/>
</default> -->
<default class ="ground">
<geom material="MatGnd" type="plane" contype="0" conaffinity="1"/>
</default>
</default>
<worldbody>
<body name="root" pos="0 0 0">
<!-- <geom name="ground" class="ground" pos="0 0 0" size="2 2 1"/> -->
<camera name="camera" mode = "fixed" pos = "0 -0.1 0.1" quat = "0 90 0 0"/>
<body name="j2s7s300_link_7" pos="0.0 0.18 0.0654" euler="-1.57 0.0 -1.57">
<inertial pos="0 0 -0.06" mass="0.727" diaginertia="0.00034532 0.00034532 0.00058160" />
<!-- <joint name="j2s7s300_joint_7" pos="0 0 0" axis="0 0 1" limited="true" range="-3.4028 3.4028" /> -->
<joint name="j2s7s300_slide_x" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-0.5 0.5" />
<joint name="j2s7s300_slide_y" type="slide" pos="0 0 0" axis="0 0 1" limited="true" range="-0.5 0.5" />
<joint name="j2s7s300_slide_z" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-0.5 0.5" />
<geom name="palm" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="link_7"/>
<site name="palm" type="cylinder" size= "0.005 0.005 0.005" rgba="25 0.5 0.7 1" pos="0.0 0.0 -0.11" quat="0 1 0 0"/>
<site name="palm_1" type="cylinder" size= "0.005 0.005 0.005" rgba="25 0.5 0.7 1" pos="0.02 0.0 -0.11" quat="0 1 0 0"/>
<site name="palm_2" type="cylinder" size= "0.005 0.005 0.005" rgba="25 0.5 0.7 1" pos="-0.02 0.0 -0.11" quat="0 1 0 0"/>
<site name="palm_3" type="cylinder" size= "0.005 0.005 0.005" rgba="25 0.5 0.7 1" pos="0.0 -0.015 -0.11" quat="0 1 0 0"/>
<site name="palm_4" type="cylinder" size= "0.005 0.005 0.005" rgba="25 0.5 0.7 1" pos="0.0 0.015 -0.11" quat="0 1 0 0"/>
<!-- palm center -->
<!-- <body name="j2s7s300_end_effector" pos="0 0 -0.1" quat="0 1 0 0">
<inertial pos="0 0 -0.06" mass="0.727" diaginertia="0.00034532 0.00034532 0.00058160" />
</body> -->
<body name="j2s7s300_link_finger_1" pos="0.00279 0.03126 -0.11467" quat="0.379408 -0.662973 -0.245899 0.596699">
<inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
<joint name="j2s7s300_joint_finger_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 2" />
<geom name="f1_prox" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="finger_proximal" />
<site name="f1_prox" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.03 0 0" euler="1.57 3.14 1.57"/>
<site name="f1_prox_1" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.02 0 0" euler="1.57 3.14 1.57"/>
<body name="j2s7s300_link_finger_tip_1" pos="0.044 -0.003 0">
<inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
<joint name="j2s7s300_joint_fingertip_1" pos="0 0 0" axis="0 0 1" range="0 2" />
<geom name="f1_dist" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="finger_distal" />
<site name="f1_dist" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.03 0.0 0.0" euler="1.57 3.14 1.57"/>
<site name="f1_dist_1" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.02 0.0 0.0" euler="1.57 3.14 1.57"/>
</body>
</body>
<body name="j2s7s300_link_finger_2" pos="0.02226 -0.02707 -0.11482" quat="0.659653 -0.37146 0.601679 -0.254671">
<inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
<joint name="j2s7s300_joint_finger_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 2" />
<geom name="f2_prox" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="finger_proximal" />
<site name="f2_prox" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.03 0 0" euler="1.57 3.14 1.57"/>
<site name="f2_prox_1" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.02 0 0" euler="1.57 3.14 1.57"/>
<body name="j2s7s300_link_finger_tip_2" pos="0.044 -0.003 0">
<inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
<joint name="j2s7s300_joint_fingertip_2" pos="0 0 0" axis="0 0 1" range="0 2"/>
<geom name="f2_dist" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="finger_distal" />
<site name="f2_dist" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.03 0 0" euler="1.57 3.14 1.57"/>
<site name="f2_dist_1" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.02 0 0" euler="1.57 3.14 1.57"/>
</body>
</body>
<body name="j2s7s300_link_finger_3" pos="-0.02226 -0.02707 -0.11482" quat="0.601679 -0.254671 0.659653 -0.37146">
<inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
<joint name="j2s7s300_joint_finger_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 2" />
<geom name="f3_prox" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="finger_proximal" />
<site name="f3_prox" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.03 0 0" euler="1.57 3.14 1.57"/>
<site name="f3_prox_1" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.02 0 0" euler="1.57 3.14 1.57"/>
<body name="j2s7s300_link_finger_tip_3" pos="0.044 -0.003 0">
<inertial pos="0.022 0 0" mass="0.01" diaginertia="7.89997e-07 7.89997e-07 8e-08" />
<joint name="j2s7s300_joint_fingertip_3" pos="0 0 0" axis="0 0 1" range="0 2"/>
<geom name="f3_dist" type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="finger_distal" />
<site name="f3_dist" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.03 0 0" euler="1.57 3.14 1.57"/>
<site name="f3_dist_1" type="cylinder" size= "0.002 0.002 0.002" rgba="25 0.5 0.7 1" pos="0.02 0 0" euler="1.57 3.14 1.57"/>
</body>
</body>
</body>
</body>
<!-- <body name="ground" pos="0 0 -0.01">
<geom condim="3" size="2.0 2.0 0.02" rgba="0 1 0 1" type="box"/>
</body> -->
<geom name="ground" class="ground" pos="0 0 0" size="2 2 1" rgba="1 1 1 0.5"/>
<!-- <include file="/obj_hg.xml"/> -->
<!-- <include file="/objects.xml"/> -->
<body name="object" pos="0 0 0">
<joint name="object" type="free" />
<geom mass="0.1" name="object" type="mesh" rgba="1 0 0 1" mesh="Vase2S" euler="0 0 0"/>
</body>
</worldbody>
<contact>
<pair geom1="object" geom2="ground" condim="3" friction="0.3 0.3 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="f1_prox" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="f1_dist" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="f2_prox" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="f2_dist" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="f3_prox" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="f3_dist" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
<pair geom1="object" geom2="palm" condim="3" friction="1 1 0.005 0.0001 0.0001"/>
</contact>
<tendon>
<fixed name="finger_1" range="0 1">
<joint joint="j2s7s300_joint_finger_1" coef="1"/>
<joint joint="j2s7s300_joint_fingertip_1" coef="-2"/>
</fixed>
<fixed name="finger_2" range="0 1">
<joint joint="j2s7s300_joint_finger_2" coef="1"/>
<joint joint="j2s7s300_joint_fingertip_2" coef="-2"/>
</fixed>
<fixed name="finger_3" range="0 1">
<joint joint="j2s7s300_joint_finger_3" coef="1"/>
<joint joint="j2s7s300_joint_fingertip_3" coef="-2"/>
</fixed>
</tendon>
<equality>
<tendon name="finger_1" tendon1="finger_1"/>
<tendon name="finger_2" tendon1="finger_2"/>
<tendon name="finger_3" tendon1="finger_3"/>
</equality>
<!-- ======================= Joint position control with velocity and position actuators ================================ -->
<!-- <actuator>
<motor joint="j2s7s300_joint_7" gear="10"></motor>
<position joint="j2s7s300_joint_finger_1" kp="20" ctrlrange="-2 2"></position>
<position joint="j2s7s300_joint_finger_2" kp="20" ctrlrange="-2 2"></position>
<position joint="j2s7s300_joint_finger_3" kp="20" ctrlrange="-2 2"></position>
<velocity joint="j2s7s300_joint_finger_1" kv="2.5" ctrlrange="-2 2"></velocity>
<velocity joint="j2s7s300_joint_finger_2" kv="2.5" ctrlrange="-2 2"></velocity>
<velocity joint="j2s7s300_joint_finger_3" kv="2.5" ctrlrange="-2 2"></velocity>
</actuator> -->
<!-- ======================= Joint velocity control with velocity and force actuators ================================ -->
<!-- <actuator>
<motor joint="j2s7s300_joint_7" gear="10"></motor>
<motor joint="j2s7s300_joint_finger_1" gear="1"></motor>
<motor joint="j2s7s300_joint_finger_2" gear="1"></motor>
<motor joint="j2s7s300_joint_finger_3" gear="1"></motor>
<velocity joint="j2s7s300_joint_finger_1" kv="2.5" ctrlrange="-2 2"></velocity>
<velocity joint="j2s7s300_joint_finger_2" kv="2.5" ctrlrange="-2 2"></velocity>
<velocity joint="j2s7s300_joint_finger_3" kv="2.5" ctrlrange="-2 2"></velocity>
</actuator> -->
<!-- ================== Velocity actuators ==========================-->
<actuator>
<!-- <position joint="j2s7s300_joint_7" kp="10"></position> -->
<velocity joint="j2s7s300_slide_x" kv="150" ctrllimited="true" ctrlrange="-0.5 0.5"></velocity>
<motor joint="j2s7s300_slide_x" gear="25"></motor>
<velocity joint="j2s7s300_slide_y" kv="150" ctrllimited="true" ctrlrange="-0.5 0.5"></velocity>
<motor joint="j2s7s300_slide_y" gear="25"></motor>
<velocity joint="j2s7s300_slide_z" kv="150" ctrllimited="true" ctrlrange="-0.5 0.5"></velocity>
<motor joint="j2s7s300_slide_z" gear="25"></motor>
<velocity joint="j2s7s300_joint_finger_1" kv="2.5" ctrllimited="true" ctrlrange="-0.8 0.8"></velocity>
<velocity joint="j2s7s300_joint_finger_2" kv="2.5" ctrllimited="true" ctrlrange="-0.8 0.8"></velocity>
<velocity joint="j2s7s300_joint_finger_3" kv="2.5" ctrllimited="true" ctrlrange="-0.8 0.8"></velocity>
</actuator>
<!-- ======================= Torque actuators ================================ -->
<!-- <actuator>
<motor joint="j2s7s300_joint_7" gear="25"/>
<motor joint='j2s7s300_joint_finger_1' name='j2s7s300_joint_finger_1_act' gear="5"/>
<motor joint='j2s7s300_joint_finger_2' name='j2s7s300_joint_finger_2_act' gear="5"/>
<motor joint='j2s7s300_joint_finger_3' name='j2s7s300_joint_finger_3_act' gear="5"/>
</actuator> -->
<!-- ======================= Torque actuators ================================ -->
<!-- <actuator>
<motor joint='j2s7s300_joint_1' name='j2s7s300_joint_1_act' gear="20" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_2' name='j2s7s300_joint_2_act' gear="50" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_3' name='j2s7s300_joint_3_act' gear="10" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_4' name='j2s7s300_joint_4_act' gear="20" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_5' name='j2s7s300_joint_5_act' gear="10" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_6' name='j2s7s300_joint_6_act' gear="10" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_7' name='j2s7s300_joint_7_act' gear="10" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_finger_1' name='j2s7s300_joint_finger_1_act' gear="1" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_finger_2' name='j2s7s300_joint_finger_2_act' gear="1" ctrlrange="-1 1" ctrllimited="true"/>
<motor joint='j2s7s300_joint_finger_3' name='j2s7s300_joint_finger_3_act' gear="1" ctrlrange="-1 1" ctrllimited="true"/>
</actuator> -->
<sensor>
<!-- Joint Angles -->
<jointpos joint='j2s7s300_slide_x'/>
<jointpos joint='j2s7s300_slide_y'/>
<jointpos joint='j2s7s300_slide_z'/>
<!--
<jointpos joint='j2s7s300_rotate_z'/>
<jointpos joint='j2s7s300_rotate_x'/>
<jointpos joint='j2s7s300_rotate_y'/>
-->
<jointpos joint='j2s7s300_joint_finger_1'/>
<jointpos joint='j2s7s300_joint_finger_2'/>
<jointpos joint='j2s7s300_joint_finger_3'/>
<jointpos joint='j2s7s300_joint_fingertip_1'/>
<jointpos joint='j2s7s300_joint_fingertip_2'/>
<jointpos joint='j2s7s300_joint_fingertip_3'/>
<!-- Distance data -->
<rangefinder name="palm" site='palm'/>
<rangefinder name="palm_1" site='palm_1'/>
<rangefinder name="palm_2" site='palm_2'/>
<rangefinder name="palm_3" site='palm_3'/>
<rangefinder name="palm_4" site='palm_4'/>
<rangefinder name="finger_1_proximal" site='f1_prox'/>
<rangefinder name="finger_1_proximal_1" site='f1_prox_1'/>
<rangefinder name="finger_1_distal" site='f1_dist'/>
<rangefinder name="finger_1_distal_1" site='f1_dist_1'/>
<rangefinder name="finger_2_proximal" site='f2_prox'/>
<rangefinder name="finger_2_proximal_1" site='f2_prox_1'/>
<rangefinder name="finger_2_distal" site='f2_dist'/>
<rangefinder name="finger_2_distal_1" site='f2_dist_1'/>
<rangefinder name="finger_3_proximal" site='f3_prox'/>
<rangefinder name="finger_3_proximal_1" site='f3_prox_1'/>
<rangefinder name="finger_3_distal" site='f3_dist'/>
<rangefinder name="finger_3_distal_1" site='f3_dist_1'/>
</sensor>
</mujoco>
| 52.242321 | 135 | 0.639381 |
2e48da98d4248c9c023a485ab9dfd1e66684b4ec | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1870_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1870_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1870_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/187/187.stl" name="obj0" scale="0.012175141622388986 0.012175141622388986 0.012175141622388986" />
</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="0.034841365365528926 0.070903751334084 0.22188025138813583">
<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 |
2e48fc7edfdf7873cc872596821b3202dfdf73be | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1064_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1064_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1064_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/106/106.stl" name="obj0" scale="0.010934451971630453 0.010934451971630453 0.010934451971630453" />
</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="0.024356672185264366 0.06212534633879516 0.010301806449455858">
<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="0.00031843229352638083 0.007888460076624927 0.00067264579127563" rgba="1 0 0 0" size="0.012178336092632183 0.03106267316939758 0.005150903224727929" 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 | 0.67138 |
2e492fce7ea87b8a1d4ac09176e2c163f9ff4208 | 2,724 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3086_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3086_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/308/308.stl" name="obj0" scale="0.006482701639977655 0.006482701639977655 0.006482701639977655" />
</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="0.01033656080036731 0.04 0.018096604247433704" 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="-0.0023664101687524996 -6.680750613038272e-05 0.04724380733364204" size="0.013528037681129243 0.011407898544449156 0.05818730842864753" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="-0.0006548081367337725 -0.005700628817543641 -0.0006069402946381725" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0023664101687524996 -6.680750613038272e-05 0.03724380733364204" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.444444 | 224 | 0.656021 |
2e4ecbaeedd449855cbcaf8f3edcee296e107872 | 1,453 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4383_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4383_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4383_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/438/438.stl" name="obj0" scale="0.00973931079612709 0.00973931079612709 0.00973931079612709" />
</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="0.027454849303235378 0.06987175864391958 0.22087546763422253">
<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 |
2e526d55e519ffea34abc00e5501c18cfdc803d2 | 1,455 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6797_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6797_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6797_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/679/679.stl" name="obj0" scale="0.005367643743413588 0.005367643743413588 0.005367643743413588" />
</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="0.03134452203661969 0.05021404688891256 0.21497907276999795">
<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 |
2e5374c86ed5a17779cc19e9cfe50b3a56a0022e | 2,294 | xml | XML | project/experiments/exp_800_mile_stone/input_data/bodies/100.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_800_mile_stone/input_data/bodies/100.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | project/experiments/exp_800_mile_stone/input_data/bodies/100.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null |
<!--
joint_number: 6
-->
<mujoco model="randomrobot">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<default>
<joint armature="0.01" damping=".1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<worldbody>
<body name='torso' pos='0.00 0.00 0.81'><geom fromto='0 0 0 0.00 0.00 1.00' name='torso_geom' size='0.06' type='capsule'/><inertial mass='0.3'/><body name='L0_D1' pos='0.00 0.00 0.23'><joint axis='1 0 0' name='L0_D1_joint' pos='0 0 0' range='86.78 136.09' type='hinge'/><geom fromto='0 0 0 0.33 -0.27 0.35' name='L0_D1_geom' size='0.07' type='capsule'/><inertial mass='0.3'/></body><body name='L1_D1' pos='0.00 0.00 0.46'><joint axis='0 0 1' name='L1_D1_joint' pos='0 0 0' range='129.98 147.79' type='hinge'/><geom fromto='0 0 0 0.45 -0.06 0.36' name='L1_D1_geom' size='0.03' type='capsule'/><inertial mass='0.3'/><body name='L2_D0' pos='0.18 -0.02 0.14'><joint axis='0 0 1' name='L2_D0_joint' pos='0 0 0' range='38.46 79.13' type='hinge'/><geom fromto='0 0 0 -0.34 -0.01 0.24' name='L2_D0_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body></body><body name='L3_D1' pos='0.00 0.00 0.35'><joint axis='1 0 0' name='L3_D1_joint' pos='0 0 0' range='42.82 50.25' type='hinge'/><geom fromto='0 0 0 0.42 0.53 -0.55' name='L3_D1_geom' size='0.05' type='capsule'/><inertial mass='0.3'/></body><body name='L4_D1' pos='0.00 0.00 0.04'><joint axis='1 0 0' name='L4_D1_joint' pos='0 0 0' range='8.08 173.58' type='hinge'/><geom fromto='0 0 0 0.25 -0.23 0.04' name='L4_D1_geom' size='0.04' type='capsule'/><inertial mass='0.3'/><body name='L5_D0' pos='0.04 -0.04 0.01'><joint axis='0 1 0' name='L5_D0_joint' pos='0 0 0' range='5.01 52.74' type='hinge'/><geom fromto='0 0 0 -0.34 -0.21 0.53' name='L5_D0_geom' size='0.06' type='capsule'/><inertial mass='0.3'/></body></body></body>
</worldbody>
</mujoco>
| 134.941176 | 1,599 | 0.552746 |
2e55164177ab34998314e716aaf327a24ff52433 | 5,055 | xml | XML | body_mnist/workable-bodies/envs/373.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/373.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | body_mnist/workable-bodies/envs/373.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
] | null | null | null | <mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<custom>
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
</custom>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<worldbody>
<body name="torso" pos="0 0 0.6915624724688678">
<geom name="torso_geom" pos="0 0 0" size="0.28655914602246363" type="sphere"/>
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.033222010711576266 0.033222010711576266 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.033222010711576266 0.033222010711576266 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 0.033222010711576266 0.033222010711576266 0.0" name="left_leg_geom" size="0.23570100415321604" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.033222010711576266 0.033222010711576266 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 0.45880377487398133 0.45880377487398133 0.0" name="left_ankle_geom" size="0.16840271974263263" 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 -0.033222010711576266 0.033222010711576266 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.033222010711576266 0.033222010711576266 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 -0.033222010711576266 0.033222010711576266 0.0" name="right_leg_geom" size="0.23570100415321604" type="capsule"/>
<body pos="-0.033222010711576266 0.033222010711576266 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 -0.45880377487398133 0.45880377487398133 0.0" name="right_ankle_geom" size="0.16840271974263263" type="capsule"/>
</body>
</body>
</body>
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.033222010711576266 -0.033222010711576266 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.033222010711576266 -0.033222010711576266 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 -0.033222010711576266 -0.033222010711576266 0.0" name="back_leg_geom" size="0.23570100415321604" type="capsule"/>
<body pos="-0.033222010711576266 -0.033222010711576266 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 -0.45880377487398133 -0.45880377487398133 0.0" name="third_ankle_geom" size="0.16840271974263263" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.033222010711576266 -0.033222010711576266 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.033222010711576266 -0.033222010711576266 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 0.033222010711576266 -0.033222010711576266 0.0" name="rightback_leg_geom" size="0.23570100415321604" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.033222010711576266 -0.033222010711576266 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 0.45880377487398133 -0.45880377487398133 0.0" name="fourth_ankle_geom" size="0.16840271974263263" 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>
| 69.246575 | 171 | 0.628882 |
2e55703661829f7e262b83e860f692eb10b894f7 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6298_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6298_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6298_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/629/629.stl" name="obj0" scale="0.022516293061424424 0.022516293061424424 0.022516293061424424" />
</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="0.031242426146646806 0.1445897268715206 0.03878944851312158">
<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="-0.00023345303014152234 0.022517614311507353 0.0004450089449641767" rgba="1 0 0 0" size="0.015621213073323403 0.0722948634357603 0.01939472425656079" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.670628 |
2e57559c76d0a5b45a0c206b636e9299098b7df3 | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8448_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8448_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8448_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/844/844.stl" name="obj0" scale="0.012157035595416197 0.012157035595416197 0.012157035595416197" />
</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="0.03678996759436297 0.08032330302759394 0.034476903138283305">
<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="-0.0007790796443762223 -0.010078884334143116 0.0007402660752933456" rgba="1 0 0 0" size="0.018394983797181484 0.04016165151379697 0.017238451569141652" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.170732 | 200 | 0.670621 |
2e5a5f2105891fc148952ca0cc7676b88425afc7 | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2278_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2278_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2278_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/227/227.stl" name="obj0" scale="0.007063695709508256 0.007063695709508256 0.007063695709508256" />
</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="0.0386328705298782 0.06732780637496211 0.036764600715366066">
<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="-0.0033659716993421776 0.014806185833518792 0.0073069829741699704" rgba="1 0 0 0" size="0.0193164352649391 0.033663903187481053 0.018382300357683033" type="ellipsoid" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 43.097561 | 198 | 0.670628 |
2e5b4ab6b4219d8fad5e8d7057b875cc934e0975 | 96,387 | xml | XML | herb_reconf/cluttered_scenes/grasping_005_tomato_soup_can_3_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_005_tomato_soup_can_3_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_005_tomato_soup_can_3_0.2_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
<compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/>
<option apirate="50" collision="predefined" cone="elliptic" impratio="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/005_tomato_soup_can/google_16k/nontextured.stl" name="gen_mesh_0" scale="1 1 1"/><mesh class="geom0" file="downloaded_assets/lamp_1/scene.stl" name="gen_mesh_gadded_1" scale="1.0058523927891436 1.0058523927891436 1.0058523927891436"/><mesh class="geom0" file="ycb_objects/012_strawberry/google_16k/nontextured.stl" name="gen_mesh_gadded_2" scale="1.0987111845887916 1.0987111845887916 1.0987111845887916"/><mesh class="geom0" file="ycb_objects/015_peach/google_16k/nontextured.stl" name="gen_mesh_gadded_3" scale="0.999250933533248 0.999250933533248 0.999250933533248"/><mesh class="geom0" file="ycb_objects/025_mug/google_16k/nontextured.stl" name="gen_mesh_gadded_4" scale="1.0102199861151742 1.0102199861151742 1.0102199861151742"/></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 0.39091834484591914" name="gen_body_0" pos="0 0 0.2999210000023595"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.37509462044706177 0.00786035655470485 0.1909781617580325 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.2559227020688901" name="gen_body_gadded_1" pos="0.09082179632124572 0.027774011310508898 0.565426990384762"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.8925479423098616 0.06887339560178807 0.4457853472429384 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 6.159563371775301" name="gen_body_gadded_2" pos="-0.434501055024975 0.10161225321355233 0.3001542939200243"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.5071452152800849 0.4288408729927977 0.4732520743251213 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.6027857479220826" name="gen_body_gadded_3" pos="-0.04093104391583096 -0.012620774828546469 0.3004140105006319"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.5020808937529945 0.20944308596324457 0.6854212514244271 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.728138757866328" name="gen_body_gadded_4" pos="-0.36290241706838083 -0.02549875325736626 0.2993324064433625"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.7981002087847217 0.2687745121629568 0.3043606012944997 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" /> -->
<pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 151.313972 | 19,113 | 0.68945 |
2e5bb6a11e3f3afdaacb68faae05be015107cd8d | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/5604_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5604_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/5604_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/560/560.stl" name="obj0" scale="0.006572299572910323 0.006572299572910323 0.006572299572910323" />
</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="0.03504934081092837 0.0422875852103634 0.21813589590881974">
<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 |
2e5bf968620c48fd531e2cbd1919cfa280376719 | 4,216 | xml | XML | MTRF/r3l/r3l/r3l_envs/inhand_env/assets/dependencies.xml | facebookresearch/MTRF | 2fee8f3f1c2150fcecc2db2fa9e122a664a72d72 | [
"Apache-2.0"
] | 2 | 2021-11-29T10:09:56.000Z | 2022-02-01T05:48:32.000Z | MTRF/r3l/r3l/r3l_envs/inhand_env/assets/dependencies.xml | facebookresearch/MTRF | 2fee8f3f1c2150fcecc2db2fa9e122a664a72d72 | [
"Apache-2.0"
] | null | null | null | MTRF/r3l/r3l/r3l_envs/inhand_env/assets/dependencies.xml | facebookresearch/MTRF | 2fee8f3f1c2150fcecc2db2fa9e122a664a72d72 | [
"Apache-2.0"
] | null | null | null | <mujocoinclude>
<option timestep="0.0025"/>
<asset>
<material name="station_metal_grey" specular="1" shininess="1" rgba="0.5 0.5 0.5 1.0"/>
<material name="plastic_white" specular="0.3" shininess="0" rgba="1 1 1 1"/>
<material name="plastic_grey" specular="0.3" shininess="0" rgba="0.5 0.5 0.5 1.0"/>
<material name="plastic_black" specular="0.3" shininess="0" rgba="0.02 0.02 0.02 1.0"/>
<material name="plastic_transparent" specular="0.3" shininess="0" rgba="1 1 1 0.4"/>
<mesh
name="dodecahedron"
vertex="1 1 1 -1 1 1 -1 -1 1
-1 -1 -1 1 -1 1 1 -1 -1
1 1 -1 -1 1 -1 0 0.618 1.618
0 -0.618 1.618 0 0.618 -1.618 0 -0.618 -1.618
1.618 0 0.618 -1.618 0 -0.618 -1.618 0 0.618
1.618 0 -00.618 0.618 1.618 0 -0.618 1.618 0
0.618 -1.618 0 -0.618 -1.618 0"
scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_top_left_face_blue" vertex="0 0.618 1.618 0 -0.618 1.618 -1 1 1 -1 -1 1 -1.618 0 0.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_top_right_face_yellow" vertex="0 0.618 1.618 0 -0.618 1.618 1 1 1 1 -1 1 1.618 0 0.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_top_front_face_red" vertex="0 -0.618 1.618 1 -1 1 -1 -1 1 0.618 -1.618 0 -0.618 -1.618 0 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_top_back_face_green" vertex="0 0.618 1.618 1 1 1 -1 1 1 0.618 1.618 0 -0.618 1.618 0 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_middle_quad_1_magenta" vertex="1 1 1 0.618 1.618 0 1.618 0 -0.618 1 1 -1 1.618 0 0.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_middle_quad_2_orange" vertex="-1 1 1 -0.618 1.618 0 -1.618 0 -0.618 -1 1 -1 -1.618 0 0.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_middle_quad_3_purple" vertex="-1 -1 1 -0.618 -1.618 0 -1.618 0 -0.618 -1 -1 -1 -1.618 0 0.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_middle_quad_4_white" vertex="1 -1 1 0.618 -1.618 0 1.618 0 -0.618 1 -1 -1 1.618 0 0.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_bottom_front_bgreen" vertex="0.618 -1.618 0 -0.618 -1.618 0 0.618 -1.618 0 1 -1 -1 -1 -1 -1 0 -0.618 -1.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_bottom_back_black" vertex="0.618 1.618 0 -0.618 1.618 0 0.618 1.618 0 1 1 -1 -1 1 -1 0 0.618 -1.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_bottom_right_babyblue" vertex="1.618 0 -0.618 1 1 -1 1 -1 -1 0 -0.618 -1.618 0 0.618 -1.618 0 0 0" scale="0.042 0.042 0.042"/>
<mesh name="dodecahedron_bottom_left_violet" vertex="-1.618 0 -0.618 -1 1 -1 -1 -1 -1 0 -0.618 -1.618 0 0.618 -1.618 0 0 0" scale="0.042 0.042 0.042"/>
</asset>
<default>
<default class="station">
<joint limited="true" damping=".1" armature="0.001"/>
<geom contype="1" conaffinity="1" condim="4" group="2" margin="0.0005"/>
<site group="2"/>
<default class="station_viz">
<geom contype="0" conaffinity="0" type="mesh"/>
<default class="station_viz_metal_grey">
<geom material="station_metal_grey"/>
</default>
<default class="station_viz_plastic_black">
<geom material="plastic_black"/>
</default>
<default class="station_viz_plastic_grey">
<geom material="plastic_grey"/>
</default>
<default class="station_viz_plastic_white">
<geom material="plastic_white"/>
</default>
<default class="station_viz_plastic_transparent">
<geom material="plastic_transparent"/>
</default>
</default>
<default class="station_phy">
<geom contype="1" conaffinity="1" group="4" type="mesh" rgba="0.0 0.0 1.0 .3"/>
<site group="4"/>
<default class="station_phy_metal">
<geom material="station_metal_grey"/>
</default>
<default class="station_phy_plastic">
<geom material="station_metal_grey" friction=".2 0.005 0.0001"/>
</default>
</default>
</default>
</default>
</mujocoinclude>
| 61.101449 | 177 | 0.598672 |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.