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  1. 1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes.jsonl +100 -0
  2. 1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes_stats.jsonl +0 -0
  3. 1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/info.json +181 -0
  4. 1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/stats.json +273 -0
  5. 1500case/dataset/dm8_Open_lid_place_the_block_into_box_close_lid/meta/info.json +181 -0
  6. 1500case/dataset/dm8_Open_lid_place_the_block_into_box_close_lid/meta/stats.json +273 -0
  7. 150case/cases/drawer_ep000000/source_config.json +76 -0
  8. 150case/cases/drawer_ep000002/asset/definition.json +413 -0
  9. 150case/cases/drawer_ep000002/asset/manifest.json +19 -0
  10. 150case/cases/drawer_ep000002/inputs/case.json +23 -0
  11. 150case/cases/drawer_ep000002/inputs/sim2_robot_only_scene.xml +457 -0
  12. 150case/cases/drawer_ep000002/source_config.json +76 -0
  13. 150case/cases/drawer_ep000002/source_eef_receipt.json +325 -0
  14. 150case/cases/drawer_ep000002/source_reference/scene.xml +191 -0
  15. 150case/cases/drawer_ep000002/source_scene.json +358 -0
  16. 150case/cases/drawer_ep000004/asset/definition.json +413 -0
  17. 150case/cases/drawer_ep000004/asset/manifest.json +19 -0
  18. 150case/cases/drawer_ep000004/inputs/case.json +23 -0
  19. 150case/cases/drawer_ep000004/inputs/sim2_robot_only_scene.xml +457 -0
  20. 150case/cases/drawer_ep000004/source_config.json +76 -0
  21. 150case/cases/drawer_ep000004/source_eef_receipt.json +325 -0
  22. 150case/cases/drawer_ep000004/source_reference/scene.xml +191 -0
  23. 150case/cases/drawer_ep000004/source_scene.json +358 -0
  24. 150case/cases/drawer_ep000007/asset/definition.json +413 -0
  25. 150case/cases/drawer_ep000007/asset/manifest.json +9 -0
  26. 150case/cases/drawer_ep000007/inputs/case.json +23 -0
  27. 150case/cases/drawer_ep000007/inputs/sim2_robot_only_scene.xml +457 -0
  28. 150case/cases/drawer_ep000007/source_eef_receipt.json +325 -0
  29. 150case/cases/drawer_ep000007/source_reference/scene.xml +191 -0
  30. 150case/cases/drawer_ep000007/source_scene.json +358 -0
  31. 150case/cases/drawer_ep000008/asset/definition.json +413 -0
  32. 150case/cases/drawer_ep000008/asset/manifest.json +10 -0
  33. 150case/cases/drawer_ep000008/inputs/case.json +23 -0
  34. 150case/cases/drawer_ep000008/inputs/sim2_robot_only_scene.xml +457 -0
  35. 150case/cases/drawer_ep000008/source_config.json +76 -0
  36. 150case/cases/drawer_ep000008/source_eef_receipt.json +325 -0
  37. 150case/cases/drawer_ep000008/source_reference/scene.xml +191 -0
  38. 150case/cases/drawer_ep000008/source_scene.json +358 -0
  39. 150case/cases/drawer_ep000009/asset/manifest.json +10 -0
  40. 150case/cases/drawer_ep000009/inputs/case.json +23 -0
  41. 150case/cases/drawer_ep000009/inputs/sim2_robot_only_scene.xml +457 -0
  42. 150case/cases/drawer_ep000009/source_config.json +76 -0
  43. 150case/cases/drawer_ep000009/source_eef_receipt.json +325 -0
  44. 150case/cases/drawer_ep000009/source_reference/scene.xml +191 -0
  45. 150case/cases/drawer_ep000009/source_scene.json +358 -0
  46. 150case/cases/drawer_ep000012/asset/manifest.json +19 -0
  47. 150case/cases/drawer_ep000012/inputs/case.json +23 -0
  48. 150case/cases/drawer_ep000012/source_config.json +76 -0
  49. 150case/cases/drawer_ep000013/asset/definition.json +413 -0
  50. 150case/cases/drawer_ep000013/asset/manifest.json +19 -0
1500case/dataset/dm4_Push_two_cubes_into_the_marked_area/meta/episodes.jsonl ADDED
@@ -0,0 +1,100 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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49
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50
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51
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52
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53
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54
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55
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56
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57
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58
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59
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60
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61
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62
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63
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64
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66
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67
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73
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74
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75
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76
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77
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78
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79
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80
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81
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82
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83
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84
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85
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86
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325
+ </body>
326
+ <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
327
+ </body>
328
+ <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
329
+ </body>
330
+ <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
331
+ </body>
332
+ <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
333
+ </body>
334
+ <body name="worktable" pos="0.0 -0.75 0">
335
+ <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
336
+ <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
337
+ <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
338
+ <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
339
+ <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
340
+ </body>
341
+ <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
342
+ <sensor>
343
+ <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
344
+ <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
345
+ </sensor>
346
+ <actuator>
347
+ <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
348
+ <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
349
+ <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
350
+ <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
351
+ </actuator>
352
+ <actuator>
353
+ <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
354
+ <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
355
+ <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
356
+ <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
357
+ <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
358
+ <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
359
+ <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
360
+ </actuator>
361
+ <sensor>
362
+ <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
363
+ <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
364
+ </sensor>
365
+ <tendon>
366
+ <fixed name="gripper_left_split">
367
+ <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
368
+ <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
369
+ </fixed>
370
+ </tendon>
371
+ <actuator>
372
+ <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
373
+ </actuator>
374
+ <contact>
375
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
376
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
377
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
378
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
379
+ <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
380
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
381
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
382
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
383
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
384
+ <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
385
+ </contact>
386
+ <equality>
387
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
388
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
389
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
390
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
391
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
392
+ </equality>
393
+ <actuator>
394
+ <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
395
+ <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
396
+ <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
397
+ <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
398
+ <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
399
+ <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
400
+ <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
401
+ </actuator>
402
+ <sensor>
403
+ <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
404
+ <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
405
+ <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
406
+ <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
407
+ </sensor>
408
+ <tendon>
409
+ <fixed name="gripper_right_split">
410
+ <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
411
+ <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
412
+ </fixed>
413
+ </tendon>
414
+ <actuator>
415
+ <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
416
+ </actuator>
417
+ <contact>
418
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
419
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
420
+ <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
421
+ <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
422
+ <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
423
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
424
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
425
+ <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
426
+ <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
427
+ <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
428
+ </contact>
429
+ <equality>
430
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
431
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
432
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
433
+ <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
434
+ <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
435
+ </equality>
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+ <asset>
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+ <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
438
+ <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
439
+ <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
440
+ <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
441
+ <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
442
+ <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
443
+ <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
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+ <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
445
+ <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
446
+ <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
447
+ <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
448
+ <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
449
+ <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
450
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452
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453
+ </asset>
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+ <equality>
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+ <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
456
+ </equality>
457
+ <visual><global offwidth="640" offheight="480" /></visual></mujoco>
150case/cases/drawer_ep000002/source_config.json ADDED
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1
+ {
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+ "case_id": "drawer_ep000002",
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+ "task": "Put_the_block_in_the_drawer.",
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+ "run_root": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000002",
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+ "import_case": "/pfs/yichen/r2r/results/rssr_cobot_sim2_v74_action_centered_20260921/cases/drawer_ep000002/inputs",
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+ "_source_eef_receipt": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v62_action_interaction_20260920/drawer/episode_000002/inputs/source_eef_ik/dbd49bc46170a48e9907/receipt.json",
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+ "source_reference_artifact": "/pfs/yichen/r2r/results/rssr_cobot_sim1_v63_source_precision_20260920/drawer/episode_000002/physics",
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+ "source_reference_kind": "certified_physics"
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+ }
150case/cases/drawer_ep000002/source_eef_receipt.json ADDED
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+ }
150case/cases/drawer_ep000002/source_reference/scene.xml ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ "Visual object identity and base/upper order audited from Real1 head first/last frames; initial metric layout remains approximate and is re-centered from immutable action during Sim2 bootstrap.",
386
+ "Source EEF IK replay; scene anchors follow true source FK. Drawer hand roles verified against synchronized Real1 wrist videos."
387
+ ],
388
+ "source_collision_adapter": "finite_flat_pads_v1",
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+ "articulation_limit_solver": {
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+ "solreflimit": [
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+ },
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+ "allow_instance_fields": [
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+ "position_m",
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+ "yaw_rad",
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+ "roll_pitch_rad"
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+ ],
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+ "success_claim": false,
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+ "source_case": "huggingface://HITdongdong/piper_dual_drawer_eef_xyz3d_video/episode_000000",
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+ "round_contact_model": {
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+ "revision": "radius_scaled_round_rolling_v1",
409
+ "radius_ratio": 0.01,
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+ "calibrated": false
411
+ },
412
+ "round_table_dispatch": "round_analytic_table_dispatch_v1"
413
+ }
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+ "status": "physical_candidate",
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+ "handle_hand": "right",
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+ "block_hand": "left",
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+ "evidence": "earlier low-lift grasp versus later lifting grasp",
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+ "cycles": {
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+ "right": 2
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+ "case_id": "cobot_drawer_ep000000",
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+ "task_id": "dm6",
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+ "dataset_repo": "HITdongdong/piper_dual_drawer_eef_xyz3d_video",
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+ "dataset_episode": 4,
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+ "data_contract": "HF EEF xyz+rpy+gripper; action remapped to RSSR right-then-left order",
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+ "source_rows": 1010,
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+ "source_fps": 30,
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+ "sim1_success_required": false,
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+ "scene_asset": "/pfs/yichen/r2r/assets/rssr_cobot_three_tasks_v1_20260919/drawer/v0001",
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+ "gripper_adapter": "HF aperture metres -> normalized opening clip(width/0.105*1.05,0,1.05)",
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+ <mujoco model="astribot_s1">
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+ <compiler angle="radian" meshdir="" />
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+ <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
282
+ </body>
283
+ </body>
284
+ <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
285
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
286
+ <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
287
+ <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
288
+ </body>
289
+ <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
290
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
291
+ <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
292
+ <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
293
+ <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
294
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
295
+ <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
296
+ <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
297
+ <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
298
+ </body>
299
+ </body>
300
+ <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
301
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
302
+ <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
303
+ <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
304
+ </body>
305
+ </body>
306
+ </body>
307
+ <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
308
+ </body>
309
+ <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
310
+ </body>
311
+ <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
312
+ </body>
313
+ <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
314
+ </body>
315
+ <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
316
+ </body>
317
+ <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
318
+ </body>
319
+ <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
320
+ </body>
321
+ <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
322
+ <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
323
+ <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
324
+ <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
325
+ </body>
326
+ <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
327
+ </body>
328
+ <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
329
+ </body>
330
+ <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
331
+ </body>
332
+ <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
333
+ </body>
334
+ <body name="worktable" pos="0.0 -0.75 0">
335
+ <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
336
+ <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
337
+ <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
338
+ <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
339
+ <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
340
+ </body>
341
+ <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
342
+ <sensor>
343
+ <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
344
+ <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
345
+ </sensor>
346
+ <actuator>
347
+ <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
348
+ <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
349
+ <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
350
+ <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
351
+ </actuator>
352
+ <actuator>
353
+ <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
354
+ <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
355
+ <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
356
+ <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
357
+ <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
358
+ <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
359
+ <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
360
+ </actuator>
361
+ <sensor>
362
+ <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
363
+ <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
364
+ </sensor>
365
+ <tendon>
366
+ <fixed name="gripper_left_split">
367
+ <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
368
+ <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
369
+ </fixed>
370
+ </tendon>
371
+ <actuator>
372
+ <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
373
+ </actuator>
374
+ <contact>
375
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
376
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
377
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
378
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
379
+ <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
380
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
381
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
382
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
383
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
384
+ <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
385
+ </contact>
386
+ <equality>
387
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
388
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
389
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
390
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
391
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
392
+ </equality>
393
+ <actuator>
394
+ <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
395
+ <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
396
+ <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
397
+ <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
398
+ <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
399
+ <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
400
+ <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
401
+ </actuator>
402
+ <sensor>
403
+ <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
404
+ <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
405
+ <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
406
+ <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
407
+ </sensor>
408
+ <tendon>
409
+ <fixed name="gripper_right_split">
410
+ <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
411
+ <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
412
+ </fixed>
413
+ </tendon>
414
+ <actuator>
415
+ <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
416
+ </actuator>
417
+ <contact>
418
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
419
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
420
+ <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
421
+ <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
422
+ <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
423
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
424
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
425
+ <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
426
+ <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
427
+ <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
428
+ </contact>
429
+ <equality>
430
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
431
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
432
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
433
+ <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
434
+ <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
435
+ </equality>
436
+ <asset>
437
+ <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
438
+ <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
439
+ <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
440
+ <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
441
+ <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
442
+ <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
443
+ <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
444
+ <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
445
+ <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
446
+ <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
447
+ <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
448
+ <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
449
+ <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
450
+ <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
451
+ <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
452
+ <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
453
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
239
+ <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
240
+ <inertial pos="-0.0727273 0.00957826 -0.0542806" quat="0.977722 -0.198255 0.000268699 -0.0689497" mass="1.60392" diaginertia="0.003953 0.0034509 0.001474" />
241
+ <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
242
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
243
+ <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
244
+ <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
245
+ <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
246
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
247
+ <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
248
+ <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
249
+ <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
250
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
251
+ <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
252
+ <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
253
+ <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
254
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
255
+ <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
256
+ <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
257
+ <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
258
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
259
+ <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
260
+ <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
261
+ <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
262
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
263
+ <site name="arm_right_tool" pos="0 -0.15 0" />
264
+ <body name="arm_right_tool_cam" pos="0 -0.15 0">
265
+ <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
266
+ </body>
267
+ <site name="force_torque_sensor_right" />
268
+ <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
269
+ <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
270
+ <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
271
+ <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
272
+ <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
273
+ <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
274
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
275
+ <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
276
+ <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
277
+ <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
278
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
279
+ <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
280
+ <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
281
+ <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
282
+ </body>
283
+ </body>
284
+ <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
285
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
286
+ <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
287
+ <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
288
+ </body>
289
+ <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
290
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
291
+ <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
292
+ <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
293
+ <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
294
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
295
+ <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
296
+ <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
297
+ <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
298
+ </body>
299
+ </body>
300
+ <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
301
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
302
+ <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
303
+ <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
304
+ </body>
305
+ </body>
306
+ </body>
307
+ <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
308
+ </body>
309
+ <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
310
+ </body>
311
+ <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
312
+ </body>
313
+ <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
314
+ </body>
315
+ <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
316
+ </body>
317
+ <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
318
+ </body>
319
+ <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
320
+ </body>
321
+ <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
322
+ <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
323
+ <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
324
+ <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
325
+ </body>
326
+ <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
327
+ </body>
328
+ <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
329
+ </body>
330
+ <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
331
+ </body>
332
+ <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
333
+ </body>
334
+ <body name="worktable" pos="0.0 -0.75 0">
335
+ <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
336
+ <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
337
+ <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
338
+ <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
339
+ <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
340
+ </body>
341
+ <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
342
+ <sensor>
343
+ <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
344
+ <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
345
+ </sensor>
346
+ <actuator>
347
+ <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
348
+ <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
349
+ <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
350
+ <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
351
+ </actuator>
352
+ <actuator>
353
+ <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
354
+ <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
355
+ <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
356
+ <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
357
+ <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
358
+ <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
359
+ <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
360
+ </actuator>
361
+ <sensor>
362
+ <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
363
+ <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
364
+ </sensor>
365
+ <tendon>
366
+ <fixed name="gripper_left_split">
367
+ <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
368
+ <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
369
+ </fixed>
370
+ </tendon>
371
+ <actuator>
372
+ <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
373
+ </actuator>
374
+ <contact>
375
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
376
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
377
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
378
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
379
+ <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
380
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
381
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
382
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
383
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
384
+ <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
385
+ </contact>
386
+ <equality>
387
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
388
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
389
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
390
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
391
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
392
+ </equality>
393
+ <actuator>
394
+ <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
395
+ <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
396
+ <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
397
+ <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
398
+ <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
399
+ <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
400
+ <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
401
+ </actuator>
402
+ <sensor>
403
+ <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
404
+ <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
405
+ <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
406
+ <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
407
+ </sensor>
408
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230
+ </body>
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+ <geom type="mesh" mesh="physical_astribot_arm_left_link_2" name="physical_robot_astribot_arm_left_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
232
+ </body>
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+ <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_left_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
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+ </body>
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+ <body name="astribot_arm_right_link_1" pos="-2.29129e-09 -0.150002 0.399354" quat="0.579228 0.40558 -0.40558 0.579228" gravcomp="0">
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+ <joint name="astribot_arm_right_joint_1" pos="0 0 0" axis="0 0 1" range="-1.517 3.087" />
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_1" />
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+ <body name="astribot_arm_right_link_2" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+ <joint name="astribot_arm_right_joint_2" pos="0 0 0" axis="0 0 1" range="-1.517 0.55" />
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_right_link_2" />
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+ <body name="astribot_arm_right_link_3" pos="0 0.05 0" quat="0.499998 0.5 -0.500002 -0.5" gravcomp="0">
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+ <inertial pos="-0.0054798 0.00064517 0.0858537" quat="0.742648 -0.0317889 -0.0338067 0.668072" mass="2.21205" diaginertia="0.0178489 0.0176537 0.00205017" />
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+ <joint name="astribot_arm_right_joint_3" pos="0 0 0" axis="0 0 1" range="-1.517 3.08" />
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_3" />
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+ <body name="astribot_arm_right_link_4" pos="0.03 0 0.309" quat="0.707105 -0.707108 0 0" gravcomp="0">
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+ <inertial pos="0.0157758 -0.111111 0.0151356" quat="0.516854 0.517425 -0.45414 0.508813" mass="0.329291" diaginertia="0.000501311 0.000477171 0.000367278" />
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+ <joint name="astribot_arm_right_joint_4" pos="0 0 0" axis="0 0 1" range="0.0 2.55" />
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_4" />
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+ <body name="astribot_arm_right_link_5" pos="0 0 0" quat="0.707105 0.707108 0 0" gravcomp="0">
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+ <inertial pos="-0.00984351 0.00748991 0.136847" quat="0.999961 -0.00684676 0.000823261 0.00549176" mass="1.11677" diaginertia="0.00454095 0.00438988 0.000793736" />
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+ <joint name="astribot_arm_right_joint_5" pos="0 0 0" axis="0 0 1" range="-2.37 2.37" />
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_5" />
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+ <body name="astribot_arm_right_link_6" pos="0 0 0.277" quat="0.707105 -0.707108 0 0" gravcomp="0">
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+ <inertial pos="0.010363 -0.00408524 -0.0404713" quat="0.99999 0.00126801 -0.0015825 0.00407582" mass="0.202188" diaginertia="0.000164741 0.00015608 8.55488e-05" />
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+ <joint name="astribot_arm_right_joint_6" pos="0 0 0" axis="0 0 1" range="-0.78 0.78" />
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+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_6" />
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+ <body name="astribot_arm_right_link_7" pos="0 0 0" quat="0.707105 0 0.707108 0" gravcomp="0">
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+ <inertial pos="0.00185812 -0.0895091 0.00257872" quat="0.711438 0.701239 0.0218365 -0.0405392" mass="1.45143" diaginertia="0.00202892 0.00199405 0.000442623" />
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+ <joint name="astribot_arm_right_joint_7" pos="0 0 0" axis="0 0 1" range="-1.55 1.55" />
262
+ <geom type="mesh" contype="0" conaffinity="0" group="1" density="0" material="M_white_shell" mesh="astribot_arm_link_7" />
263
+ <site name="arm_right_tool" pos="0 -0.15 0" />
264
+ <body name="arm_right_tool_cam" pos="0 -0.15 0">
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+ <camera name="right_wrist_rgbd" pos="0.00772 0.05592 0.04319" quat="-0.7130607009975457 0.7006910271198059 0.013493708973317153 0.019860539389038687" fovy="57" />
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+ </body>
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+ <site name="force_torque_sensor_right" />
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+ <body name="astribot_arm_right_tool_link" pos="0 -0.048 0" euler="1.5707963 0 0" gravcomp="0">
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+ <body name="astribot_gripper_right_base" pos="0.0 0.0 .0">
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+ <geom type="mesh" contype="0" conaffinity="0" rgba="0.973 0.976 0.984 1" mesh="gripper_base_link" />
271
+ <geom name="astribot_gripper_right_right_geom" type="box" size=" 0.02 0.0135 0.01" pos="0.00 0 0.07" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
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+ <inertial pos="0.0 0.0 0.04" quat="0.0 0.0 -0.0 1.0" mass="0.4" diaginertia="0.001 0.001 0.001" />
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+ <body name="astribot_gripper_right_Link_L1" pos="0.0145 0 0.0510999999999999">
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+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L1" pos="0 0 0" axis="0 -1 0" range="0 0.93 " damping="5" />
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+ <geom name="astribot_gripper_right_geom_L1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L1_Link" />
276
+ <inertial pos="0.0238640864176058 9.47687900128855E-11 0.0229075443586898" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
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+ <body name="astribot_gripper_right_Link_L11" pos="0.0412500000000001 0 0.036379080527138" euler="0 0 0">
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+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L11" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
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+ <inertial pos="0.00580213800883545 -8.25165165516798E-05 0.0308700387872592" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
280
+ <geom name="astribot_gripper_right_geom_L11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L11_Link" />
281
+ <geom name="astribot_gripper_right_geom_L112" type="box" size=" 0.005 0.0135 0.03" pos="-0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="1.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
282
+ </body>
283
+ </body>
284
+ <body name="astribot_gripper_right_Link_L2" pos="0.0325 0 0.0510999999999999">
285
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_L2" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
286
+ <geom name="astribot_gripper_right_geom_L2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_L2_Link" />
287
+ <inertial pos="0.0140847588556024 1.38103934263007E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
288
+ </body>
289
+ <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
290
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
291
+ <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
292
+ <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
293
+ <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
294
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
295
+ <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
296
+ <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
297
+ <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
298
+ </body>
299
+ </body>
300
+ <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
301
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
302
+ <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
303
+ <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
304
+ </body>
305
+ </body>
306
+ </body>
307
+ <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
308
+ </body>
309
+ <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
310
+ </body>
311
+ <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
312
+ </body>
313
+ <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
314
+ </body>
315
+ <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
316
+ </body>
317
+ <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
318
+ </body>
319
+ <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
320
+ </body>
321
+ <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
322
+ <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
323
+ <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
324
+ <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
325
+ </body>
326
+ <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
327
+ </body>
328
+ <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
329
+ </body>
330
+ <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
331
+ </body>
332
+ <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
333
+ </body>
334
+ <body name="worktable" pos="0.0 -0.75 0">
335
+ <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
336
+ <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
337
+ <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
338
+ <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
339
+ <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
340
+ </body>
341
+ <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
342
+ <sensor>
343
+ <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
344
+ <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
345
+ </sensor>
346
+ <actuator>
347
+ <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
348
+ <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
349
+ <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
350
+ <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
351
+ </actuator>
352
+ <actuator>
353
+ <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
354
+ <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
355
+ <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
356
+ <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
357
+ <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
358
+ <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
359
+ <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
360
+ </actuator>
361
+ <sensor>
362
+ <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
363
+ <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
364
+ </sensor>
365
+ <tendon>
366
+ <fixed name="gripper_left_split">
367
+ <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
368
+ <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
369
+ </fixed>
370
+ </tendon>
371
+ <actuator>
372
+ <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
373
+ </actuator>
374
+ <contact>
375
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
376
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
377
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
378
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
379
+ <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
380
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
381
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
382
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
383
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
384
+ <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
385
+ </contact>
386
+ <equality>
387
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
388
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
389
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
390
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
391
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
392
+ </equality>
393
+ <actuator>
394
+ <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
395
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+ }
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+ },
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+ "wall_s": 0.6766630467027426,
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+ "source_action_modified": false,
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+ "source_frame": "recorded EEF interpreted as Piper link6 flange",
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+ "calibration_status": "inherited estimated base transforms, not hardware calibration"
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+ }
150case/cases/drawer_ep000008/source_reference/scene.xml ADDED
@@ -0,0 +1,191 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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+ <mujoco model="rssr_source_proxy">
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+ <compiler angle="radian" />
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+ <option timestep="0.00025" integrator="implicitfast" iterations="100" tolerance="1e-9" />
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+ <asset>
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+ <mesh name="link1" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link1.STL" />
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+ <mesh name="link2" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link2.STL" />
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+ <mesh name="gripper_base" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/gripper_base.STL" />
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+ <mesh name="link8" file="/pfs/yichen/r2r/models/trackc/piper_isaac_sim/piper_description/meshes/link8.STL" />
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+ <geom type="mesh" rgba=".09 .10 .11 1" mesh="link2" name="left_link2_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+ <geom type="mesh" rgba=".09 .10 .11 1" mesh="link4" name="left_link4_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+ <geom type="mesh" rgba=".09 .10 .11 1" mesh="link5" name="left_link5_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+ <geom type="mesh" rgba=".09 .10 .11 1" mesh="link6" name="left_link6_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+ <geom type="mesh" rgba=".09 .10 .11 1" mesh="gripper_base" name="left_gripper_base_geom" contype="1" conaffinity="6" friction="1 .01 .002" condim="4" solref=".006 1" />
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+ <body name="left_link7" pos="0 0 0.1358" quat="0.707105 0.707108 0 0">
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+ <inertial pos="0.000651232 -0.049193 0.00972259" quat="0.519774 0.479905 -0.436488 0.555881" mass="0.0303535" diaginertia="1.60353e-05 1.14217e-05 5.97329e-06" />
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+ <geom name="left_finger_pad_7" type="box" pos="0.0 -0.022799987271867682 0.003000096732219132" quat="-0.7071052811843601 0.707108281185553 0.0 0.0" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ <geom name="right_finger_pad_8" type="box" pos="2.203924479098847e-08 -0.02279998727186768 0.0030000967321381806" quat="-2.5973410328296305e-06 2.5973510328336068e-06 0.7071082811807828 0.7071052811795898" size=".02 .003 .021" mass=".001" contype="1" conaffinity="6" condim="4" friction="1 .01 .002" solref=".006 1" rgba=".04 .04 .04 1" />
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+ </body>
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+ <site name="arm_right_tool" pos="0 0 .133669403578" />
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+ <camera name="right_wrist_rgbd" pos="0 .04 .07" xyaxes="1 0 0 0 -1 0" fovy="60" />
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ </body>
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+ <body name="worktable" pos="0.0 -0.75 0">
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+ <geom name="worktable_top" type="mesh" pos="0 0 0.725" contype="2" conaffinity="1" rgba=".88 .88 .86 1" mesh="engineered_equivalent_worktable_top" />
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+ <geom name="worktable_leg_0" type="mesh" pos="-0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_0" />
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+ <geom name="worktable_leg_1" type="mesh" pos="-0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_1" />
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+ <geom name="worktable_leg_2" type="mesh" pos="0.53 -0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_2" />
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+ <geom name="worktable_leg_3" type="mesh" pos="0.53 0.33 0.35" contype="2" conaffinity="1" rgba=".25 .27 .3 1" mesh="engineered_equivalent_worktable_leg_3" />
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+ </body>
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+ <body name="astribot_gripper_right_Link_R1" pos="-0.0144999999999999 0 0.0510999999999939">
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+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R1" pos="0 0 0" axis="0 1 0" range="0 0.93 " damping="5" />
291
+ <geom name="astribot_gripper_right_geom_R1" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R1_Link" />
292
+ <inertial pos="-0.0238640864176057 -9.47685797632123E-11 0.0229075443586915" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
293
+ <body name="astribot_gripper_right_Link_R11" pos="-0.0412499999999999 0 0.0363790805271382" euler="0 0.03 0">
294
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R11" pos="0 0 0" axis="0 1 0" range="-1.00 0" />
295
+ <inertial pos="-0.00580213800888738 8.25165165509265E-05 0.030870038787216" quat="0.0 0.0 -0.0 1.0" mass="0.067" diaginertia="0.001 0.001 0.001" />
296
+ <geom name="astribot_gripper_right_geom_R11" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R11_Link" />
297
+ <geom name="astribot_gripper_right_geom_R112" type="box" size=" 0.005 0.0135 0.03" pos="0.003 0 0.036" rgba="0.5 0.2 0.2 1" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" contype="8" conaffinity="14" />
298
+ </body>
299
+ </body>
300
+ <body name="astribot_gripper_right_Link_R2" pos="-0.0325 0 0.0510999999999999">
301
+ <joint class="gripper_size1" name="astribot_gripper_right_joint_R2" pos="0 0 0" axis="0 1 0" range="-0 1.00" />
302
+ <inertial pos="-0.0140847588556023 -1.38096956128494E-10 0.0136360450679544" quat="0.0 0.0 -0.0 1.0" mass="0.03" diaginertia="0.001 0.001 0.001" />
303
+ <geom name="astribot_gripper_right_geom_R2" contype="0" conaffinity="0" type="mesh" rgba="0.08 0.08 0.09 1" mesh="gripper_R2_Link" />
304
+ </body>
305
+ </body>
306
+ </body>
307
+ <geom type="mesh" mesh="physical_astribot_arm_link_7" name="physical_robot_astribot_arm_right_link_7_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
308
+ </body>
309
+ <geom type="mesh" mesh="physical_astribot_arm_link_6" name="physical_robot_astribot_arm_right_link_6_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
310
+ </body>
311
+ <geom type="mesh" mesh="physical_astribot_arm_link_5" name="physical_robot_astribot_arm_right_link_5_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
312
+ </body>
313
+ <geom type="mesh" mesh="physical_astribot_arm_link_4" name="physical_robot_astribot_arm_right_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
314
+ </body>
315
+ <geom type="mesh" mesh="physical_astribot_arm_link_3" name="physical_robot_astribot_arm_right_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
316
+ </body>
317
+ <geom type="mesh" mesh="physical_astribot_arm_right_link_2" name="physical_robot_astribot_arm_right_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
318
+ </body>
319
+ <geom type="mesh" mesh="physical_astribot_arm_link_1" name="physical_robot_astribot_arm_right_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
320
+ </body>
321
+ <geom type="mesh" mesh="physical_astribot_torso_link_4" name="physical_robot_astribot_torso_link_4_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
322
+ <geom pos="0 0 0.46765" type="mesh" mesh="physical_astribot_head_base_link" name="physical_robot_astribot_torso_link_4_1" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
323
+ <geom pos="0 0.06449 0.36823" quat="0.579228 -0.40558 -0.40558 -0.579228" type="mesh" mesh="physical_astribot_arm_left_base_link" name="physical_robot_astribot_torso_link_4_2" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
324
+ <geom pos="0 -0.06449 0.36823" quat="0.579228 0.40558 -0.40558 0.579228" type="mesh" mesh="physical_astribot_arm_right_base_link" name="physical_robot_astribot_torso_link_4_3" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
325
+ </body>
326
+ <geom type="mesh" mesh="physical_astribot_torso_link_3" name="physical_robot_astribot_torso_link_3_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
327
+ </body>
328
+ <geom type="mesh" mesh="physical_astribot_torso_link_2" name="physical_robot_astribot_torso_link_2_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
329
+ </body>
330
+ <geom type="mesh" mesh="physical_astribot_torso_link_1" name="physical_robot_astribot_torso_link_1_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
331
+ </body>
332
+ <geom type="mesh" mesh="physical_astribot_torso_base_link" name="physical_robot_chassis_base_0" contype="1" conaffinity="6" density="0" rgba="0 0 0 0" group="3" friction=".8 .01 .001" solref=".004 1" />
333
+ </body>
334
+ <body name="worktable" pos="0.0 -0.75 0">
335
+ <geom name="worktable_top" type="box" pos="0 0 0.725" size="0.6 0.4 0.025" contype="2" conaffinity="13" rgba=".88 .88 .86 1" friction=".8 .01 .001" solref=".004 1" />
336
+ <geom name="worktable_leg_0" type="box" pos="-0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
337
+ <geom name="worktable_leg_1" type="box" pos="-0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
338
+ <geom name="worktable_leg_2" type="box" pos="0.53 -0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
339
+ <geom name="worktable_leg_3" type="box" pos="0.53 0.33 0.35" size=".025 .025 0.35" contype="2" conaffinity="13" rgba=".25 .27 .3 1" friction=".8 .01 .001" solref=".004 1" />
340
+ </body>
341
+ <camera name="rssr_head" pos="0.0 -0.32 1.45" quat="-0.0 0.0 0.2737426590405621 0.9618029718301989" fovy="55" /></worldbody>
342
+ <sensor>
343
+ <gyro name="astribot_chassis_base_imu_gyro" site="astribot_chassis_imu_site" />
344
+ <accelerometer name="astribot_chassis_base_imu_acc" site="astribot_chassis_imu_site" />
345
+ </sensor>
346
+ <actuator>
347
+ <general class="torso_size1" name="astribot_torso_joint_1" joint="astribot_torso_joint_1" forcerange="-465 465" gainprm="10000" biasprm="0 -10000 -1000" />
348
+ <general class="torso_size1" name="astribot_torso_joint_2" joint="astribot_torso_joint_2" gainprm="10000" biasprm="0 -10000 -1000" />
349
+ <general class="torso_size1" name="astribot_head_joint_1" joint="astribot_head_joint_1" gainprm="100" biasprm="0 -100 -10" />
350
+ <general class="torso_size1" name="astribot_head_joint_2" joint="astribot_head_joint_2" gainprm="100" biasprm="0 -100 -10" />
351
+ </actuator>
352
+ <actuator>
353
+ <general class="size3" name="astribot_arm_left_joint_1" joint="astribot_arm_left_joint_1" gainprm="100" biasprm="0 -100 -10" />
354
+ <general class="size3" name="astribot_arm_left_joint_2" joint="astribot_arm_left_joint_2" gainprm="100" biasprm="0 -100 -10" />
355
+ <general class="size3" name="astribot_arm_left_joint_3" joint="astribot_arm_left_joint_3" gainprm="100" biasprm="0 -100 -10" />
356
+ <general class="size2" name="astribot_arm_left_joint_4" joint="astribot_arm_left_joint_4" gainprm="500" biasprm="0 -500 -50" />
357
+ <general class="size2" name="astribot_arm_left_joint_5" joint="astribot_arm_left_joint_5" gainprm="500" biasprm="0 -500 -50" />
358
+ <general class="size1" name="astribot_arm_left_joint_6" joint="astribot_arm_left_joint_6" gainprm="200" biasprm="0 -200 -20" />
359
+ <general class="size1" name="astribot_arm_left_joint_7" joint="astribot_arm_left_joint_7" gainprm="200" biasprm="0 -200 -20" />
360
+ </actuator>
361
+ <sensor>
362
+ <force name="astribot_arm_left_force_sensor" site="force_torque_sensor_left" />
363
+ <torque name="astribot_arm_left_torque_sensor" site="force_torque_sensor_left" />
364
+ </sensor>
365
+ <tendon>
366
+ <fixed name="gripper_left_split">
367
+ <joint joint="astribot_gripper_left_joint_R1" coef="0.5" />
368
+ <joint joint="astribot_gripper_left_joint_L1" coef="0.5" />
369
+ </fixed>
370
+ </tendon>
371
+ <actuator>
372
+ <general name="astribot_gripper_left_joint_L1" tendon="gripper_left_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
373
+ </actuator>
374
+ <contact>
375
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L1" />
376
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_L2" />
377
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L2" />
378
+ <exclude body1="astribot_gripper_left_Link_L1" body2="astribot_gripper_left_Link_L11" />
379
+ <exclude body1="astribot_gripper_left_Link_L2" body2="astribot_gripper_left_Link_L11" />
380
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R1" />
381
+ <exclude body1="astribot_gripper_left_base" body2="astribot_gripper_left_Link_R2" />
382
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R2" />
383
+ <exclude body1="astribot_gripper_left_Link_R1" body2="astribot_gripper_left_Link_R11" />
384
+ <exclude body1="astribot_gripper_left_Link_R2" body2="astribot_gripper_left_Link_R11" />
385
+ </contact>
386
+ <equality>
387
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
388
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
389
+ <joint joint1="astribot_gripper_left_joint_R1" joint2="astribot_gripper_left_joint_R11" polycoef="0.00 -1 0 0 0" />
390
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
391
+ <joint joint1="astribot_gripper_left_joint_L1" joint2="astribot_gripper_left_joint_L11" polycoef="0.00 1 0 0 0" />
392
+ </equality>
393
+ <actuator>
394
+ <general class="size3" name="astribot_arm_right_joint_1" joint="astribot_arm_right_joint_1" gainprm="100" biasprm="0 -100 -10" />
395
+ <general class="size3" name="astribot_arm_right_joint_2" joint="astribot_arm_right_joint_2" gainprm="100" biasprm="0 -100 -10" />
396
+ <general class="size3" name="astribot_arm_right_joint_3" joint="astribot_arm_right_joint_3" gainprm="100" biasprm="0 -100 -10" />
397
+ <general class="size2" name="astribot_arm_right_joint_4" joint="astribot_arm_right_joint_4" gainprm="500" biasprm="0 -500 -50" />
398
+ <general class="size2" name="astribot_arm_right_joint_5" joint="astribot_arm_right_joint_5" gainprm="500" biasprm="0 -500 -50" />
399
+ <general class="size1" name="astribot_arm_right_joint_6" joint="astribot_arm_right_joint_6" gainprm="200" biasprm="0 -200 -20" />
400
+ <general class="size1" name="astribot_arm_right_joint_7" joint="astribot_arm_right_joint_7" gainprm="200" biasprm="0 -200 -20" />
401
+ </actuator>
402
+ <sensor>
403
+ <force name="astribot_arm_right_force_sensor" site="force_torque_sensor_right" />
404
+ <torque name="astribot_arm_right_torque_sensor" site="force_torque_sensor_right" />
405
+ <tendonpos name="gripper_left_tendon_length" tendon="gripper_left_split" />
406
+ <tendonpos name="gripper_right_tendon_length" tendon="gripper_right_split" />
407
+ </sensor>
408
+ <tendon>
409
+ <fixed name="gripper_right_split">
410
+ <joint joint="astribot_gripper_right_joint_R1" coef="0.5" />
411
+ <joint joint="astribot_gripper_right_joint_L1" coef="0.5" />
412
+ </fixed>
413
+ </tendon>
414
+ <actuator>
415
+ <general name="astribot_gripper_right_joint_L1" tendon="gripper_right_split" forcerange="-200 200" ctrlrange="0 100" gainprm="4.65 0 0" biasprm="0 -500 -10" forcelimited="true" gaintype="fixed" biastype="affine" />
416
+ </actuator>
417
+ <contact>
418
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L1" />
419
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_L2" />
420
+ <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L2" />
421
+ <exclude body1="astribot_gripper_right_Link_L1" body2="astribot_gripper_right_Link_L11" />
422
+ <exclude body1="astribot_gripper_right_Link_L2" body2="astribot_gripper_right_Link_L11" />
423
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R1" />
424
+ <exclude body1="astribot_gripper_right_base" body2="astribot_gripper_right_Link_R2" />
425
+ <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R2" />
426
+ <exclude body1="astribot_gripper_right_Link_R1" body2="astribot_gripper_right_Link_R11" />
427
+ <exclude body1="astribot_gripper_right_Link_R2" body2="astribot_gripper_right_Link_R11" />
428
+ </contact>
429
+ <equality>
430
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_L1" solimp="0.95 0.99 0.001" solref="0.005 1" />
431
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R2" solimp="0.95 0.99 0.001" solref="0.005 1" />
432
+ <joint joint1="astribot_gripper_right_joint_R1" joint2="astribot_gripper_right_joint_R11" polycoef="0.00 -1 0 0 0" />
433
+ <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L2" polycoef="0 -1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
434
+ <joint joint1="astribot_gripper_right_joint_L1" joint2="astribot_gripper_right_joint_L11" polycoef="0.00 1 0 0 0" />
435
+ </equality>
436
+ <asset>
437
+ <mesh name="physical_astribot_arm_left_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_base_link.STL" />
438
+ <mesh name="physical_astribot_arm_left_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_left_link_2.STL" />
439
+ <mesh name="physical_astribot_arm_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_1.STL" />
440
+ <mesh name="physical_astribot_arm_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_3.STL" />
441
+ <mesh name="physical_astribot_arm_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_4.STL" />
442
+ <mesh name="physical_astribot_arm_link_5" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_5.STL" />
443
+ <mesh name="physical_astribot_arm_link_6" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_6.STL" />
444
+ <mesh name="physical_astribot_arm_link_7" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_link_7.STL" />
445
+ <mesh name="physical_astribot_arm_right_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_base_link.STL" />
446
+ <mesh name="physical_astribot_arm_right_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_arm/astribot_arm_right_link_2.STL" />
447
+ <mesh name="physical_astribot_head_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_head/astribot_head_base_link.STL" />
448
+ <mesh name="physical_astribot_torso_base_link" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_base_link.STL" />
449
+ <mesh name="physical_astribot_torso_link_1" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_1.STL" />
450
+ <mesh name="physical_astribot_torso_link_2" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_2.STL" />
451
+ <mesh name="physical_astribot_torso_link_3" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_3.STL" />
452
+ <mesh name="physical_astribot_torso_link_4" file="/pfs/yichen/r2r/models/trackc/astribot_descriptions/urdf/astribot_s1_urdf/meshes/s1_torso/astribot_torso_link_4.STL" />
453
+ </asset>
454
+ <equality>
455
+ <joint name="user_torso_sum" joint1="astribot_torso_joint_2" joint2="astribot_torso_joint_1" polycoef="-0.28403 -1 0 0 0" solref=".004 1" solimp=".9999 .9999 .001 .5 2" />
456
+ </equality>
457
+ <visual><global offwidth="640" offheight="480" /></visual></mujoco>
150case/cases/drawer_ep000009/source_config.json ADDED
@@ -0,0 +1,76 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "model_root": "/pfs/yichen/r2r/results/iclr2027_v21_cobot_all1500_fromzero_ops_memory20_20260913",
3
+ "env_file": "/pfs/yichen/r2r/.secrets/rssr_gpt56_20260916.env",
4
+ "python": "/pfs/yichen/r2r/work/rssr_runtime_np126/bin/python",
5
+ "ffmpeg": "/pfs/yichen/r2r/miniconda3/envs/agent_retarget/bin/ffmpeg",
6
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