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<!--
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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="-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>
| 143.761755 | 14,960 | 0.687811 |
b191753b199f5e369f91d664b65f089de574a9b3 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/8825_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8825_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/8825_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/882/882.stl" name="obj0" scale="0.009062439732581857 0.009062439732581857 0.009062439732581857" />
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<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> | 116.659357 | 1,276 | 0.686635 |
b1a613b79fdc7a523abc8f59e42198ef4a6299a7 | 2,722 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7885_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7885_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7885_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/788/788.stl" name="obj0" scale="0.00718425448497292 0.00718425448497292 0.00718425448497292" />
</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="0.022365173320588468 0.04 0.011144287399634842" 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="0.0038711806623164774 -0.004426067260012571 0.037902672840092355" size="0.014965875264585852 0.017952813192743444 0.04906010672822078" type="box" zaxis="0.0 0.0 1.0" />
<site name="object0" pos="-0.0034264313774480686 -0.0036081579313458744 -1.3146488493585445e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="0.0038711806623164774 -0.004426067260012571 0.027902672840092353" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" />
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" />
</actuator>
</mujoco> | 50.407407 | 223 | 0.65687 |
b1a678e149b13753bbc49eb7117938a3ed413908 | 1,768 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7092_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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<body name="herb/wam_1/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5">
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<joint armature=".01" class="herb/wam_1/bhand/" damping="0.11" name="herb/wam_1/bhand/j32" range="0 2.44346"/>
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<!--
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<body pos="0.012500000 0.22 0.92000000" quat="0 -0.7070995 0 -0.7070995" name="herb/wam/">
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<geom name="herb/wam//unnamed_geom_15" class="herb/wam/col" pos="-0.04499998 -0.07299995 0" euler="1.57 0 0" mesh="herb/wam/forearm_link_convex_decomposition_p2"/>
<body name="herb/wam/6_wrist_yaw_link" pos="-0.04499998 -0.2999999 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j5_wrist_yaw_joint" class="herb/wam/" range="-4.549998 1.25" damping="0.55" armature=".01"/>
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<body name="herb/wam/7_wrist_pitch_link" pos="0 0 0" quat="0.70710700 -0.70710700 0 0">
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<joint name="herb/wam/j6_wrist_pitch_joint" class="herb/wam/" range="-1.5707 1.5707" damping="0.11" armature=".01"/>
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<body name="herb/wam/8_wrist_palm_link" pos="0 0 0" quat="0.70710700 0.70710700 0 0">
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<joint name="herb/wam/j7_palm_yaw_joint" class="herb/wam/" range="-3 3" damping="0.11" armature=".01"/>
<geom name="herb/wam//unnamed_geom_23" class="herb/wam/viz" mesh="herb/wam/wrist_palm_link_fine"/>
<geom name="herb/wam//unnamed_geom_24" class="herb/wam/col" mesh="herb/wam/wrist_palm_link_convex"/>
<site name="herb/wam/hand_attachment" class="herb/wam/"/>
<body name="herb/wam/bhand/">
<body name="herb/wam/bhand/bhand_palm_link" pos="0 0 0.05999998" quat="0 0 0 1">
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<body name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/>
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<joint name="herb/wam/bhand/j12" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_9" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/>
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<joint name="herb/wam/bhand/j13" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/>
<geom name="herb/wam/bhand//unnamed_geom_11" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/>
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<body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700">
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<joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/>
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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"/>
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<touch name="touchsensor5" site="sensorsurf5"/>
<touch name="touchsensor6" site="sensorsurf6"/>
<touch name="touchsensor7" site="sensorsurf7"/>
<touch name="touchsensor8" site="sensorsurf8"/>
<touch name="touchsensor9" site="sensorsurf9"/>
<touch name="touchsensor10" site="sensorsurf10"/>
<touch name="touchsensor11" site="sensorsurf11"/>
<touch name="touchsensor12" site="sensorsurf12"/>
<touch name="touchsensor13" site="sensorsurf13"/>
<touch name="touchsensor14" site="sensorsurf14"/>
<touch name="touchsensor15" site="sensorsurf15"/>
<touch name="touchsensor16" site="sensorsurf16"/>
<touch name="touchsensor17" site="sensorsurf17"/>
<touch name="touchsensor18" site="sensorsurf18"/>
<touch name="touchsensor19" site="sensorsurf19"/>
</sensor>
<actuator>
<motor joint="ball_x" ctrlrange="-100.0 100.0" ctrllimited="true"/>
<motor joint="ball_y" ctrlrange="-100.0 100.0" ctrllimited="true"/>
</actuator>
</mujoco>
| 56.147541 | 150 | 0.552701 |
b1b22362186c227de5990577204cc230f37fcced | 1,770 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/7021_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7021_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/7021_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/702/702.stl" name="obj0" scale="0.010392054853869234 0.010392054853869234 0.010392054853869234" />
</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="0.03462323513677326 0.0740807606630728 0.031034255856550688">
<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="-0.0005212211527960644 -0.0020606809877158354 -0.00046283015953335095" rgba="1 0 0 0" size="0.01731161756838663 0.0370403803315364 0.015517127928275344" 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 |
b1b2ac656c9b1f3b035ebe8def97add94efce17d | 2,724 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6950_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6950_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6950_peg.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/695/695.stl" name="obj0" scale="0.007157640866622105 0.007157640866622105 0.007157640866622105" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table0" pos="1.3 0.75 0.17">
<geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" />
</body>
<body name="table_top" pos="1.3 0.75 0.36">
<joint damping="0.01" name="table_top:joint" type="free" />
<geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" />
<geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" />
<site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<body name="object0" pos="0.004398606514687882 0.04 0.018126374770318015" zaxis="1.0 0.0 0.0">
<joint damping="0.01" name="object0:joint" type="free" />
<geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" />
<geom condim="3" mass="2" material="block_mat" pos="-0.0020352990378457135 -0.008456510090969368 0.0434968102481126" size="0.010607334606529881 0.014088970588947376 0.04807944847510075" type="box" zaxis="1.0 0.0 0.0" />
<site name="object0" pos="0.00013196976589283885 -0.006156372292091834 -0.00018403171230026936" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
<site name="handle0" pos="-0.0020352990378457135 -0.008456510090969368 0.033496810248112595" 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 | 222 | 0.657122 |
b1b3aa55bbe025169b4e29586a2f90d897de7fe3 | 15,586 | xml | XML | gym-kinova-gripper/gym_kinova_gripper/envs/kinova_description/j2s7s300_end_effector_v1_CubeM.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_CubeM.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_CubeM.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="CubeM" file="CubeM.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="0 0 0">
<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="CubeM" 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>
| 53.194539 | 136 | 0.627422 |
b1b655bb2c9f898e2af26b81d82ec21eede8117b | 1,454 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/4812_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4812_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/4812_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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</mujoco> | 38.263158 | 155 | 0.618294 |
b1bc464d0ca2462cb0ea93b7ea9074cc2ecffe52 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3418_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3418_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3418_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | <mujoco>
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</mujoco> | 38.315789 | 155 | 0.618819 |
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1187_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | <mujoco>
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</actuator>
</mujoco> | 43.268293 | 202 | 0.6708 |
b1bdbd5b75c622e58fef10ff4ff39977f7c64555 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/9042_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9042_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/9042_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | <mujoco>
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</actuator>
</mujoco> | 43.219512 | 201 | 0.670993 |
b1c1c8b4ac40b8c158b7d4e47f22f20dcbcd8491 | 1,181 | xml | XML | robogym/assets/xmls/robot/ur16e/jointspec/ur16e_mocap_class.xml | 0xflotus/robogym | 5ec2fcbda9828941fe3072792dd25fb5a915bbbb | [
"MIT"
] | 288 | 2020-11-12T21:39:34.000Z | 2022-03-19T23:27:50.000Z | robogym/assets/xmls/robot/ur16e/jointspec/ur16e_mocap_class.xml | 0xflotus/robogym | 5ec2fcbda9828941fe3072792dd25fb5a915bbbb | [
"MIT"
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"MIT"
] | 31 | 2020-11-12T22:31:01.000Z | 2022-02-28T20:34:48.000Z | <mujocoinclude>
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</default>
</default>
</mujocoinclude>
| 35.787879 | 85 | 0.530906 |
b1c9521fda0bde098f938f0dfc41c6d7b0bc3f48 | 1,772 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/3730_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/3730_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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</mujoco> | 43.219512 | 201 | 0.670993 |
b1ca57981a8181d48ac4c5d3e88a498b5bcd86b0 | 7,787 | xml | XML | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_030.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
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] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_030.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
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] | null | null | null | metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_030.xml | WorldEditors/RLSchool | a368937ab23c8d56f8b46d6c2de74d607d7a12bb | [
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<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"/>
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</mujoco> | 118.141813 | 1,961 | 0.688005 |
b1d52428c50a1741238f7dda8ae5bd309d857940 | 4,384 | xml | XML | multiworld/envs/assets/classic_mujoco/half_cheetah_obstacles/half_cheetah_obstacle_position=3.5_height=0.475.xml | szk9876/multiworld | c90149d2913280298d5c54236ac40b793b0c2632 | [
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b1d6e59697136745f43e7b057de8a299a79cc69d | 3,578 | xml | XML | project/experiments/exp_800_mile_stone/input_data/bodies/903.xml | liusida/thesis-bodies | dceb8a36efd2cefc611f6749a52b56b9d3572f7a | [
"MIT"
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b1d73884578323e87703f416fe88465be289cfee | 4,293 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_535.xml | NagisaZj/ac-teach | 481811d5c80d0dbee54f16c063b4ea3262b82050 | [
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<contact>
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<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/>
<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/>
<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" /> -->
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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" 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geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact>
<actuator>
<!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" />
<velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />-->
<position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/>
<position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/>
<position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/>
<position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/>
<position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/>
<position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/>
<!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" />
<motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" />
<motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" />
<motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" />
<motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" />
<motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" />
<motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/>
<motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>-->
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/>
<velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/>
<!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/>
<position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/>
<position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/>
<position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/>
<position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/>
<position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>
<position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>-->
</actuator>
</mujoco> | 136.949765 | 10,958 | 0.686165 |
b1e94b48c2da3767de8a580d8bf62831ab3cf4d7 | 106,115 | xml | XML | herb_reconf/cluttered_scenes/grasping_vase_2_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_vase_2_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | herb_reconf/cluttered_scenes/grasping_vase_2_4_0.5_scene.xml | wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release | f55c6b0fac44d9d749e7804d99169a39d30c2111 | [
"MIT"
] | null | null | null | <?xml version="1.0" ?><mujoco model="scene">
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<default class="herb/wam_1/bhand/viz">
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<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> | 166.585557 | 27,872 | 0.692249 |
b1e9d8e2b88d7345f2e89f214dc0a69852c52105 | 3,430 | xml | XML | modular_mujoco_envs/xmls/walker_6_main.xml | brandontrabucco/modular-mujoco-envs | 101fa92cbc266c97f18ad61e19fdb569017ab121 | [
"MIT"
] | null | null | null | modular_mujoco_envs/xmls/walker_6_main.xml | brandontrabucco/modular-mujoco-envs | 101fa92cbc266c97f18ad61e19fdb569017ab121 | [
"MIT"
] | null | null | null | modular_mujoco_envs/xmls/walker_6_main.xml | brandontrabucco/modular-mujoco-envs | 101fa92cbc266c97f18ad61e19fdb569017ab121 | [
"MIT"
] | null | null | null | <mujoco model="walker_generic">
<include file="../misc/skybox.xml" />
<include file="../misc/visual.xml" />
<include file="../misc/materials.xml" />
<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=".7 .1 .1" material="self" />
</default>
<option integrator="RK4" timestep="0.002" />
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="left1_joint" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="left2_joint" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="left3_joint" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="right1_joint" />
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="right2_joint" />
</actuator>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-1 -0 -1.5" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1" />
<geom conaffinity="1" condim="3" material="grid" name="floor" pos="0 0 0" size="40 40 40" type="plane" />
<body name="torso" pos="0 0 1.6">
<camera mode="trackcom" name="tilted" pos="2.7 3 1" xyaxes="1 -.9 0 0 0 -1" />
<camera mode="trackcom" name="track" pos="0 3 1" xyaxes="1 0 0 0 0 -1" />
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide" />
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide" />
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge" />
<geom friction="0.9" fromto="0 0 1.6 0 0 1.0" name="torso_geom" size="0.07" type="capsule" />
<body name="left1" pos="0 0 1.0">
<geom friction="0.9" fromto="0 0 1.0 0 0 0.52" name="left1_geom" size="0.05600000000000001" type="capsule" />
<joint axis="0 -1 0" name="left1_joint" pos="0 0 1.0" range="-75 75" type="hinge" />
<body name="left2" pos="0 0 0.52">
<geom friction="0.9" fromto="0 0 0.52 0 0 0.136" name="left2_geom" size="0.044800000000000006" type="capsule" />
<joint axis="0 -1 0" name="left2_joint" pos="0 0 0.52" range="-75 75" type="hinge" />
<body name="left3" pos="0 0 0.136">
<geom friction="0.9" fromto="0 0 0.136 0.2 0 0.136" name="left3_geom" size="0.06" type="capsule" />
<joint axis="0 -1 0" name="left3_joint" pos="0 0 0.136" range="-75 75" type="hinge" />
</body>
</body></body>
<body name="right1" pos="0 0 1.0">
<geom friction="0.9" fromto="0 0 1.0 0 0 0.52" name="right1" size="0.05600000000000001" type="capsule" />
<joint axis="0 -1 0" name="right1_joint" pos="0 0 1.0" range="-75 75" type="hinge" />
<body name="right2" pos="0 0 0.52">
<geom friction="0.9" fromto="0 0 0.52 0 0 0.136" name="right2" size="0.044800000000000006" type="capsule" />
<joint axis="0 -1 0" name="right2_joint" pos="0 0 0.52" range="-75 75" type="hinge" />
</body>
</body></body>
</worldbody>
</mujoco> | 71.458333 | 138 | 0.562974 |
b1ea4d3f6e6ade0907d269bb37b34431295fd716 | 1,450 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/6527_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6527_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/6527_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/652/652.stl" name="obj0" scale="0.01143958944089983 0.01143958944089983 0.01143958944089983" />
</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="0.03427066484910051 0.0684985856722551 0.2359509460649482">
<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> | 38.157895 | 155 | 0.617241 |
b1eba04ff26d9cce5cbe16bdc13c171398752c65 | 1,457 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2286_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2286_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/2286_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/228/228.stl" name="obj0" scale="0.0038315419253185973 0.0038315419253185973 0.0038315419253185973" />
</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="0.020313927212602903 0.0399439567596428 0.2124300833266256">
<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 |
b1ed24381d004f67bd24ef9113118f4a33f9bcc0 | 5,065 | xml | XML | assets/fetch_complex_objects/fetch/train_scene_hook_709.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_709.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_709.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>
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b1ed5212b84e3d5ff2498df9b0f3ef047dd2ed44 | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/99_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/99_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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</mujoco> | 38.315789 | 155 | 0.618819 |
b1edec9d6a104ee4380b24932786c887ffa1e70f | 1,767 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/2064_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
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</mujoco> | 43.097561 | 196 | 0.670628 |
b1efbacfda46d53560c2865ae68b78debbb6b26a | 6,702 | xml | XML | assets/dmanus_chain.xml | anag004/dmanus_sim | 452f91bb8e93bf87566eafe891b53729886f70f9 | [
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"Apache-2.0"
] | 2 | 2021-08-11T19:28:42.000Z | 2021-12-12T02:40:16.000Z | <mujocoinclude>
<!--Palm-->
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<!--Plate-->
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<!--Thumb finger-->
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<geom mesh="fingertip" type="mesh" pos="0 0 .00" class="col_dhand_tip" euler="-1.57 1.57 0"/> <!-- use default convex hull conversion-->
<joint name="TFJ3" type="hinge" pos="0 0 0" axis="1 0 0" limited="true" range="-2.0 2.0"/>
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</body>
</body>
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<!--Thumb finger end-->
<!--Index Finger-->
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<geom mesh="fingertip" type="mesh" pos="0 0 .00" class="col_dhand_tip" euler="-1.57 1.57 0"/> <!-- use default convex hull conversion-->
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<geom mesh="fingertip" type="mesh" pos="0 0 .00" class="col_dhand_tip" euler="-1.57 1.57 0"/> <!-- use default convex hull conversion-->
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</body>
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<!--Little finger end-->
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</mujocoinclude> | 67.02 | 161 | 0.51895 |
b1f172403670f8cc7d492e7d2c806333a85340a5 | 2,704 | xml | XML | sequential_inference/envs/sawyer/assets_v2/sawyer_xyz/sawyer_stick_obj.xml | cvoelcker/sequential_inference | acdc23aa8fdbfc76ded771e82a4abcdd081a3280 | [
"MIT"
] | null | null | null | sequential_inference/envs/sawyer/assets_v2/sawyer_xyz/sawyer_stick_obj.xml | cvoelcker/sequential_inference | acdc23aa8fdbfc76ded771e82a4abcdd081a3280 | [
"MIT"
] | null | null | null | sequential_inference/envs/sawyer/assets_v2/sawyer_xyz/sawyer_stick_obj.xml | cvoelcker/sequential_inference | acdc23aa8fdbfc76ded771e82a4abcdd081a3280 | [
"MIT"
] | null | null | null | <mujoco>
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| 80.504505 | 175 | 0.600492 |
b1f6c2d5dbabd75c07da89504849ca991cd0930a | 1,456 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1385_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1385_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1385_slide.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | <mujoco>
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</mujoco> | 38.315789 | 155 | 0.618819 |
b1f7ac3b91b0a7b3d4c7a0f797889721637a7354 | 1,764 | xml | XML | gym/envs/robotics/assets/fetch/random_obj_xml/1323_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1323_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
"OLDAP-2.7"
] | null | null | null | gym/envs/robotics/assets/fetch/random_obj_xml/1323_grasp.xml | Jekyll1021/gym | 1701741df2e6ae9a762fe647122ee8344f586bc9 | [
"Python-2.0",
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</actuator>
</mujoco> | 43.02439 | 197 | 0.669501 |
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