Datasets:

yuchi233
/

Placement_Assets

+<mujocoinclude>
+  <!-- ======= AITBOT PLAY ======= -->
+  <body name="arm_base" childclass="aribot_play">
+    <site name="armbase"/>
+    <geom type="box" pos="-0.02 0 0.005" size="0.0806 0.1375 0.0025" rgba="0.2 0.2 0.2 1" euler="0 0 1.5708" class="collision"/>
+    <geom type="box" pos="-0.015 0 0.045" size="0.07 0.05 0.04" rgba="1 0 0 0.5" class="collision"/>
+    <geom mesh="arm_base_0" pos="0 0 -0.0015" material="Gree_Light_Base" class="visual"/>
+    <geom mesh="arm_base_1" material="Paint_Matte_Black" class="visual"/>
+    <body name="link1" pos="0 0 0.1172">
+      <inertial pos="7.9126e-05 -0.002527 -0.0041359" quat="0.696716 0.716558 0.0238919 -0.0236876" mass="0.54639" diaginertia="0.000346294 0.000325437 0.000286269"/>
+      <joint name="joint1" class="joint1"/>
+      <geom type="mesh" material="Paint_Matte_Black" mesh="link1" class="visual"/>
+      <body name="link2" quat="0.135866 0.135867 -0.69393 0.693932">
+        <inertial pos="0.22493 0.0047721 0.008023" quat="-0.210875 0.632473 -0.273056 0.693506" mass="0.64621" diaginertia="0.00516535 0.00505042 0.000418626"/>
+        <joint name="joint2" class="joint2"/>
+        <geom type="box" pos="0.08 0.015 0" euler="0 0 0.15" size="0.11 0.03 0.04" rgba="1 0 0 1" class="collision"/>
+        <geom type="box" pos="0.235 0.015 0" euler="0 0 -0.3" size="0.065 0.025 0.045" rgba="1 0 0 1" class="collision"/>
+        <geom mesh="link2_0" material="Paint_Matte_Black" class="visual"/>
+        <geom mesh="link2_1" material="Paint_Metallic_White" class="visual"/>
+        <body name="link3" pos="0.27009 0 0" quat="0.192144 0 0 -0.981367">
+          <inertial pos="0.16813 -5.5576e-05 0.0031184" quat="0.511278 0.488423 0.489191 0.510617" mass="0.26829" diaginertia="0.0031527 0.0030951 0.000239403"/>
+          <joint name="joint3" class="joint3"/>
+          <geom type="box" pos="0.13 0 0" size="0.13 0.025 0.025" rgba="1 0 0 1" class="collision"/>
+          <geom mesh="link3_0" material="Paint_Matte_Black" class="visual"/>
+          <geom mesh="link3_1" material="Paint_Metallic_White" class="visual"/>
+          <body name="link4" pos="0.29015 0 0" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
+            <inertial pos="5.2436e-06 0.00040412 -0.03228" quat="0.999969 -0.000174762 -0.00792041 -6.98144e-05" mass="0.34876" diaginertia="0.000423574 0.000412 0.000126826"/>
+            <joint name="joint4" class="joint4"/>
+            <!-- <geom type="cylinder" pos="0 0 0" size="0.03 0.03" euler="1.5708 0 0" rgba="1 0 0 1" class="collision"/> -->
+            <geom type="mesh" material="Paint_Matte_Black" mesh="link4" class="visual"/>
+            <body name="link5" quat="0.707105 0.707108 0 0">
+              <inertial pos="8.3328e-06 0.026148 0.002525" quat="0.531568 0.4663 0.4663 0.531568" mass="0.36132" diaginertia="0.0004677 0.000432922 0.000178178"/>
+              <joint name="joint5" class="joint5"/>
+              <!-- <geom type="cylinder" pos="0 0.06 0" size="0.03 0.03" euler="1.5708 0 0" rgba="1 0 0 1" class="collision"/> -->
+              <geom mesh="link5_0" material="Paint_Matte_Black" class="visual"/>
+              <geom mesh="link5_1" material="Paint_Metallic_White" class="visual"/>
+              <body name="link6" pos="0 0.23645 0" quat="0.499998 -0.5 0.5 0.500002">
+                <body pos="-0.105 0 -0.12" euler="3.1416 0 1.5708">
+                  <camera name="eye_arm" euler="-0.5236 0 0" fovy="72.5376526571421"/>
+                </body>
+                <inertial pos="-0.0047053 7.3857e-05 -0.12293" mass="0.53855" diaginertia="5e-05 5e-05 3.85e-05"/>
+                <joint name="joint6" class="joint6"/>
+                <!-- <geom type="cylinder" pos="0 0 -0.11" size="0.03 0.03" euler="0 0 0" rgba="1 0 0 1" class="collision"/> -->
+                <geom type="box" pos="0 0 -0.07" size="0.025 0.08 0.015" rgba="1 0 0 1" class="collision"/>
+                <geom type="mesh" material="Paint_Matte_Black" mesh="link6" class="visual"/>
+                <geom type="mesh" material="Paint_Matte_Black" mesh="camera_stand" class="visual"/>
+                <site name="endpoint" pos='0 0 0.015' euler="0 -1.5708 0"/>
+                <body name="left">
+                  <inertial pos="-0.048742 0.0096369 0.00044322" quat="0.757393 0.0415116 0.0313705 0.650883" mass="0.0626" diaginertia="2.79281e-05 1.90181e-05 1.21737e-05"/>
+                  <joint name="endleft" class='finger2'/>
+                  <geom type="mesh" mesh="right" material="Paint_Matte_Black" class="visual"/>
+                  <geom name="left_finger_pad" type="box" size=".00525 .002 .02" pos="0 0.002 0.005" rgba="1 0 0 1" class="collision"/>
+                  <geom type="box" size=".015 .002 .018" pos="0 0.002 -0.035" rgba="1 0 0 1" class="collision"/>
+                </body>
+                <body name="right">
+                  <inertial pos="-0.049039 -0.0096764 0.00038868" quat="0.650491 0.0296695 0.0398251 0.757889" mass="0.061803" diaginertia="2.74809e-05 1.88104e-05 1.19127e-05"/>
+                  <joint name="endright" class='finger1'/>
+                  <geom type="mesh" mesh="left" material="Paint_Matte_Black" class="visual"/>
+                  <geom name="right_finger_pad" type="box" size=".00525 .002 .02" pos="0 -0.002 0.005" rgba="1 0 0 1" class="collision"/>
+                  <geom type="box" size=".015 .002 .018" pos="0 -0.002 -0.035" rgba="1 0 0 1" class="collision"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_appendix.xml ADDED Viewed

	@@ -0,0 +1,18 @@

+<mujocoinclude>
+  <contact>
+    <exclude body1='arm_base' body2='link2'/>
+  </contact>
+  <tendon>
+    <fixed name='gripper_gear'>
+      <joint joint='endleft'  coef='0.5'/>
+      <joint joint='endright' coef='-0.5'/>
+    </fixed>
+  </tendon>
+  <equality>
+    <joint joint1='endleft' joint2='endright' polycoef='0 -1 0 0 0 '/>
+  </equality>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_control.xml ADDED Viewed

	@@ -0,0 +1,9 @@

+<mujocoinclude>
+  <position name="joint1" ctrllimited="true" ctrlrange="-3.151 2.089"  joint="joint1" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint2" ctrllimited="true" ctrlrange="-2.963 0.181"  joint="joint2" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint3" ctrllimited="true" ctrlrange="-0.094 3.161" joint="joint3" kp="1000" user="1" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint4" ctrllimited="true" ctrlrange="-3.012 3.012"  joint="joint4" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint5" ctrllimited="true" ctrlrange="-1.859 1.859"  joint="joint5" kp="350" user="1" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint6" ctrllimited="true" ctrlrange="-3.017 3.017"  joint="joint6" kp="100" user="1" forcelimited="true" forcerange="-300 300"/>
+  <position name='gripper' tendon='gripper_gear' ctrllimited="true" ctrlrange="0. 0.04" kp="30" user="1" forcelimited="true" forcerange="-15 15"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_dependencies.xml ADDED Viewed

	@@ -0,0 +1,69 @@

+<mujocoinclude>
+  <default>
+    <default class='aribot_play'>
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3" condim="6" solimp="2 1 0.01" solref="0.001 10" friction="1 0.005 0.0001" type="mesh"/>
+      </default>
+      <default class='joint1'>
+        <joint axis='0 0 1' range="-3.151 2.089" actuatorfrcrange="-24 24" damping="0.2" frictionloss='15' />
+        <position ctrlrange="-3.151 2.089"/>
+      </default>
+      <default class='joint2'>
+        <joint axis='0 0 1' range="-2.963 0.181" actuatorfrcrange="-24 24" damping="0.2" frictionloss='15' />
+        <position ctrlrange="-2.963 0.181" />
+      </default>
+      <default class='joint3'>
+        <joint axis='0 0 1' range='-0.094 3.161' actuatorfrcrange="-24 24" damping="0.2" frictionloss='15' />
+        <position ctrlrange='-0.094 3.161'/>
+      </default>
+      <default class='joint4'>
+        <joint axis='0 0 1' range="-3.012 3.012" actuatorfrcrange="-8 8" damping="0.1" frictionloss='5' />
+        <position ctrlrange="-3.012 3.012"/>
+      </default>
+      <default class='joint5'>
+        <joint axis='0 0 1' range="-1.859 1.859" actuatorfrcrange="-8 8" damping="0.1" frictionloss='5' />
+        <position ctrlrange="-1.859 1.859"/>
+      </default>
+      <default class='joint6'>
+        <joint axis='0 0 1' range="-3.017 3.017" actuatorfrcrange="-8 8" damping="0.1" frictionloss='5' />
+        <position ctrlrange="-3.017 3.017"/>
+      </default>
+      <default class='finger1'>
+        <joint axis='0 1 0' range="-0.04 0" type='slide' damping="1"/>
+      </default>
+      <default class='finger2'>
+        <joint axis='0 1 0' range="0 0.04" type='slide' damping="1"/>
+      </default>
+    </default>
+    <site size="0.001" group="3"/>
+  </default>
+  <asset>
+    <material name="Paint_Matte_Black" specular="0.5" shininess="0.5" rgba="0.00111266039 0.00111266039 0.00111266039 1.0"/>
+    <material name="Paint_Metallic_White" specular="0.5" shininess="0.5" rgba="0.928523183 0.928523183 0.928523123 1.0"/>
+    <material name="Gree_Light_Base" specular="0.5" shininess="0.5" rgba="0.6 1 1 1"/>
+  </asset>
+  <asset>
+    <mesh name="arm_base_0" file="airbot_play/arm_base_0.obj"/>
+    <mesh name="arm_base_1" file="airbot_play/arm_base_1.obj"/>
+    <mesh name="link1" file="airbot_play/link1.obj"/>
+    <mesh name="link2_0" file="airbot_play/link2_0.obj"/>
+    <mesh name="link2_1" file="airbot_play/link2_1.obj"/>
+    <mesh name="link3_0" file="airbot_play/link3_0.obj"/>
+    <mesh name="link3_1" file="airbot_play/link3_1.obj"/>
+    <mesh name="link4" file="airbot_play/link4.obj"/>
+    <mesh name="link5_0" file="airbot_play/link5_0.obj"/>
+    <mesh name="link5_1" file="airbot_play/link5_1.obj"/>
+    <mesh name="link6" file="airbot_play/link6.obj"/>
+    <mesh name="camera_stand" file="airbot_play/camera_stand.obj"/>
+    <mesh name="left" file="airbot_play/left.obj"/>
+    <mesh name="right" file="airbot_play/right.obj"/>
+  </asset>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play/airbot_play_sensor.xml ADDED Viewed

	@@ -0,0 +1,33 @@

+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1" />
+  <jointpos name="joint2_pos" joint="joint2" />
+  <jointpos name="joint3_pos" joint="joint3" />
+  <jointpos name="joint4_pos" joint="joint4" />
+  <jointpos name="joint5_pos" joint="joint5" />
+  <jointpos name="joint6_pos" joint="joint6" />
+  <tendonpos name="gripper_pos" tendon="gripper_gear" />
+  <jointvel name="joint1_vel" joint="joint1" />
+  <jointvel name="joint2_vel" joint="joint2" />
+  <jointvel name="joint3_vel" joint="joint3" />
+  <jointvel name="joint4_vel" joint="joint4" />
+  <jointvel name="joint5_vel" joint="joint5" />
+  <jointvel name="joint6_vel" joint="joint6" />
+  <tendonvel name="gripper_vel" tendon="gripper_gear" />
+  <jointactuatorfrc name="joint1_torque" joint="joint1" />
+  <jointactuatorfrc name="joint2_torque" joint="joint2" />
+  <jointactuatorfrc name="joint3_torque" joint="joint3" />
+  <jointactuatorfrc name="joint4_torque" joint="joint4" />
+  <jointactuatorfrc name="joint5_torque" joint="joint5" />
+  <jointactuatorfrc name="joint6_torque" joint="joint6" />
+  <jointactuatorfrc name="gripper_torque" joint="endright" />
+  <framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <framelinvel name="endpoint_vel" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <gyro name="endpoint_gyro" site="endpoint"/>
+  <accelerometer name="endpoint_acc" site="endpoint" />
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/_play_force.urdf ADDED Viewed

	@@ -0,0 +1,315 @@

+<?xml version="1.0" ?>
+<robot name="play_g2">
+  <mujoco>
+    <compiler meshdir="../meshes"/>
+  </mujoco>
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.018345 -0.002558 0.03724" rpy="0 0 0"/>
+      <mass value="0.6735"/>
+      <inertia ixx="0.00121381" ixy="-3.271E-05" ixz="-0.00023366" iyy="0.00164872" iyz="-2.757E-05" izz="0.00126552"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link1">
+    <inertial>
+      <origin xyz="0.00014396 -0.00098536 -0.020968" rpy="0 0 0"/>
+      <mass value="0.607"/>
+      <inertia ixx="0.0011117" ixy="1.605E-05" ixz="-1.45E-06" iyy="0.0010136" iyz="-7.07E-06" izz="0.0003867"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link1.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link1.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link2">
+    <inertial>
+      <origin xyz="0.13769 0.012537 0.0044739" rpy="0 0 0"/>
+      <mass value="0.918"/>
+      <inertia ixx="0.00094437" ixy="0.00112155" ixz="-0.00063705" iyy="0.03479442" iyz="-7.45E-06" izz="0.03461144"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link2.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link2.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link3">
+    <inertial>
+      <origin xyz="1.5134E-05 0.10706 0.0082136" rpy="0 0 0"/>
+      <mass value="0.7"/>
+      <inertia ixx="0.01565914" ixy="1.007E-05" ixz="1.02E-06" iyy="0.00045929" iyz="0.00010253" izz="0.0154811"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link3.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link3.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link4">
+    <inertial>
+      <origin xyz="-1.6216E-05 0.002995 -0.019407" rpy="0 0 0"/>
+      <mass value="0.359"/>
+      <inertia ixx="0.00051773" ixy="-4E-08" ixz="1.5E-07" iyy="0.00052925" iyz="-4.05E-06" izz="0.00013681"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link4.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link4.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link5">
+    <inertial>
+      <origin xyz="-4.5037E-05 0.033144 0.0024106" rpy="0 0 0"/>
+      <mass value="0.403"/>
+      <inertia ixx="0.00116016" ixy="-3.1E-07" ixz="-2.4E-07" iyy="0.00024251" iyz="-4.809E-05" izz="0.00108456"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link5.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link5.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link6">
+    <inertial>
+      <origin xyz="-4.6366E-05 4.3424E-05 0.066592" rpy="0 0 0"/>
+      <mass value="0.11"/>
+      <inertia ixx="0.00051056" ixy="0" ixz="-3.4E-07" iyy="0.00051056" iyz="3.2E-07" izz="1.73E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link6.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/link6.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="eef_connect_base_link">
+    <inertial>
+      <origin xyz="3.5687E-06 0.00020484 -0.004811" rpy="0 0 0"/>
+      <mass value="0.019009"/>
+      <inertia ixx="4.0476E-06" ixy="-9.5794E-10" ixz="1.8201E-10" iyy="3.9455E-06" iyz="7.997E-09" izz="7.498E-06"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/eef_connect_base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.89804 0.91765 0.92941 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/eef_connect_base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="joint1" type="revolute">
+    <origin xyz="0 0 0.1127" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.1416" upper="2.0944" effort="0" velocity="0"/>
+  </joint>
+  <joint name="joint2" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 -0.3867 3.1416"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-2.9671" upper="0.17453" effort="0" velocity="0"/>
+  </joint>
+  <joint name="joint3" type="revolute">
+    <origin xyz="0.27009 0 0" rpy="0 0 1.9575"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-0.087266" upper="3.1416" effort="0" velocity="0"/>
+  </joint>
+  <joint name="joint4" type="revolute">
+    <origin xyz="0 0.29015 0" rpy="-1.5708 -1.5708 0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.0107" upper="3.0107" effort="0" velocity="0"/>
+  </joint>
+  <joint name="joint5" type="revolute">
+    <origin xyz="0 0 0" rpy="1.5708 0 0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-1.7628" upper="1.7628" effort="0" velocity="0"/>
+  </joint>
+  <joint name="joint6" type="revolute">
+    <origin xyz="0 0 0" rpy="-1.5708 0 0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-3.0107" upper="3.0107" effort="0" velocity="0"/>
+  </joint>
+  <joint name="arm_connect_joint" type="fixed">
+    <parent link="link6"/>
+    <child link="eef_connect_base_link"/>
+    <origin xyz="0.0 0.0 0.0955" rpy="0.0 0.0 0.0"/>
+  </joint>
+  <link name="g2_base_link">
+    <inertial>
+      <origin xyz="5.9308E-05 -3.262E-05 0.041814" rpy="0 0 0"/>
+      <mass value="0.488"/>
+      <inertia ixx="0.00115523" ixy="-2E-06" ixz="2.2E-07" iyy="0.00137334" iyz="-8.7E-07" izz="0.00042051"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/g2_base_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/g2_base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="g2_left_link">
+    <inertial>
+      <origin xyz="0.018307 5.9636E-06 0.012505" rpy="0 0 0"/>
+      <mass value="0.054004"/>
+      <inertia ixx="2.46E-05" ixy="0" ixz="7.55E-06" iyy="4.78E-05" iyz="0" izz="4.892E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/g2_left_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/g2_left_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="g2_right_link">
+    <inertial>
+      <origin xyz="0.018307 -6.8572E-07 0.012505" rpy="0 0 0"/>
+      <mass value="0.054004"/>
+      <inertia ixx="2.46E-05" ixy="0" ixz="-7.55E-06" iyy="4.78E-05" iyz="0" izz="4.892E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/g2_right_link.STL"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://play_g2/meshes/g2_right_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="g2_left_joint" type="prismatic">
+    <origin xyz="0 0 0.0705" rpy="0 -1.5708 0"/>
+    <parent link="g2_base_link"/>
+    <child link="g2_left_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.0366" effort="0" velocity="0"/>
+  </joint>
+  <joint name="g2_right_joint" type="prismatic">
+    <origin xyz="0 0 0.0705" rpy="3.1416 -1.5708 0"/>
+    <parent link="g2_base_link"/>
+    <child link="g2_right_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.0366" effort="0" velocity="0"/>
+    <mimic joint="g2_left_joint" multiplier="1"/>
+  </joint>
+  <joint name="connect_eef_joint" type="fixed">
+    <parent link="eef_connect_base_link"/>
+    <child link="g2_base_link"/>
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+  </joint>
+</robot>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force.xml ADDED Viewed

	@@ -0,0 +1,50 @@

+<mujocoinclude>
+  <body name="arm_base">
+    <site name="armbase"/>
+    <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="base_link" contype="0" conaffinity="0"/>
+    <body name="link1" pos="0 0 0.1127">
+      <inertial pos="0.00014396 -0.00098536 -0.020968" quat="0.996851 -0.00552866 0.00131697 0.0790989" mass="0.607" diaginertia="0.00111427 0.00101111 0.000386618"/>
+      <joint name="joint1" pos="0 0 0" axis="0 0 1" range="-3.1416 2.0944"/>
+      <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link1"/>
+      <body name="link2" quat="0.135867 0.135871 -0.693931 0.69393">
+        <inertial pos="0.13769 0.012537 0.0044739" quat="0.544988 0.469712 0.519552 0.460896" mass="0.918" diaginertia="0.0348354 0.0346196 0.000895236"/>
+        <joint name="joint2" pos="0 0 0" axis="0 0 1" range="-2.9671 0.17453"/>
+        <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link2"/>
+        <body name="link3" pos="0.27009 0 0" quat="0.55806 0 0 0.8298">
+          <inertial pos="1.5134e-05 0.10706 0.0082136" quat="0.709512 0.704687 -0.00192802 0.00241094" mass="0.7" diaginertia="0.0156592 0.0154818 0.000458584"/>
+          <joint name="joint3" pos="0 0 0" axis="0 0 1" range="-0.087266 3.1416"/>
+          <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link3"/>
+          <body name="link4" pos="0 0.29015 0" quat="0.499998 -0.5 -0.5 -0.500002">
+            <inertial pos="-1.6216e-05 0.002995 -0.019407" quat="0.705825 -0.00378066 0.00351614 0.708367" mass="0.359" diaginertia="0.000529292 0.00051773 0.000136768"/>
+            <joint name="joint4" pos="0 0 0" axis="0 0 1" range="-3.0107 3.0107"/>
+            <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link4"/>
+            <body name="link5" quat="0.707105 0.707108 0 0">
+              <inertial pos="-4.5037e-05 0.033144 0.0024106" quat="0.686718 0.726922 0.00098681 -0.00117372" mass="0.403" diaginertia="0.00116016 0.0010873 0.000239772"/>
+              <joint name="joint5" pos="0 0 0" axis="0 0 1" range="-1.7628 1.7628"/>
+              <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link5"/>
+              <body name="link6" quat="0.707105 -0.707108 0 0">
+                <inertial pos="-1.12859e-05 -0.00288488 0.120334" quat="0.690668 -0.0374648 0.0402513 0.721078" mass="0.617009" diaginertia="0.00266817 0.00259226 0.000587714"/>
+                <joint name="joint6" pos="0 0 0" axis="0 0 1" range="-3.0107 3.0107"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
+                <geom pos="0 0 0.0955" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="eef_connect_base_link"/>
+                <geom pos="0 0 0.0955" quat="1 0 0 0" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="g2_base_link"/>
+                <site name="endpoint" pos='0 0 0.236' quat="0.5 0.5 -0.5 0.5"/>
+                <body name="g2_left_link" pos="0 0 0.166" quat="0.707105 0 -0.707108 0">
+                  <inertial pos="0.018307 5.9636e-06 0.012505" quat="0 0.798204 0 0.602388" mass="0.054004" diaginertia="5.10732e-05 4.78e-05 2.24468e-05"/>
+                  <!-- <joint name="g2_left_joint" pos="0 0 0" axis="0 0 1" type="slide" range="0 0.0366"/> -->
+                  <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="g2_left_link"/>
+                </body>
+                <body name="g2_right_link" pos="0 0 0.166" quat="-2.59734e-06 0.707105 2.59735e-06 0.707108">
+                  <inertial pos="0.018307 -6.8572e-07 0.012505" quat="0 0.602388 0 0.798204" mass="0.054004" diaginertia="5.10732e-05 4.78e-05 2.24468e-05"/>
+                  <!-- <joint name="g2_right_joint" pos="0 0 0" axis="0 0 1" type="slide" range="0 0.0366"/> -->
+                  <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="g2_right_link"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_appendix.xml ADDED Viewed

	@@ -0,0 +1,14 @@

+<mujocoinclude>
+  <tendon>
+    <fixed name='gripper_gear'>
+      <joint joint='g2_left_joint'  coef='0.5'/>
+      <joint joint='g2_right_joint' coef='0.5'/>
+    </fixed>
+  </tendon>
+  <equality>
+    <joint joint1='g2_left_joint' joint2='g2_right_joint' polycoef='0 1 0 0 0 '/>
+  </equality>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_control.xml ADDED Viewed

	@@ -0,0 +1,9 @@

+<mujocoinclude>
+  <motor name="joint1" joint="joint1" ctrllimited="true" ctrlrange="-10 10"/>
+  <motor name="joint2" joint="joint2" ctrllimited="true" ctrlrange="-10 10"/>
+  <motor name="joint3" joint="joint3" ctrllimited="true" ctrlrange="-10 10"/>
+  <motor name="joint4" joint="joint4" ctrllimited="true" ctrlrange="-5 5"/>
+  <motor name="joint5" joint="joint5" ctrllimited="true" ctrlrange="-5 5"/>
+  <motor name="joint6" joint="joint6" ctrllimited="true" ctrlrange="-5 5"/>
+  <!-- <position name='gripper' tendon='gripper_gear' ctrllimited="true" ctrlrange="0. 1." kp="3" user="1" forcelimited="true" forcerange="-1 1"/> -->
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_dependencies.xml ADDED Viewed

	@@ -0,0 +1,18 @@

+<mujocoinclude>
+  <option integrator="implicitfast" timestep="0.004"/>
+  <asset>
+    <mesh name="base_link" file="airbot_play_force/base_link.STL"/>
+    <mesh name="link1" file="airbot_play_force/link1.STL"/>
+    <mesh name="link2" file="airbot_play_force/link2.STL"/>
+    <mesh name="link3" file="airbot_play_force/link3.STL"/>
+    <mesh name="link4" file="airbot_play_force/link4.STL"/>
+    <mesh name="link5" file="airbot_play_force/link5.STL"/>
+    <mesh name="link6" file="airbot_play_force/link6.STL"/>
+    <mesh name="eef_connect_base_link" file="airbot_play_force/eef_connect_base_link.STL"/>
+    <mesh name="g2_base_link" file="airbot_play_force/g2_base_link.STL"/>
+    <mesh name="g2_left_link" file="airbot_play_force/g2_left_link.STL"/>
+    <mesh name="g2_right_link" file="airbot_play_force/g2_right_link.STL"/>
+  </asset>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_force_sensor.xml ADDED Viewed

	@@ -0,0 +1,31 @@

+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1" />
+  <jointpos name="joint2_pos" joint="joint2" />
+  <jointpos name="joint3_pos" joint="joint3" />
+  <jointpos name="joint4_pos" joint="joint4" />
+  <jointpos name="joint5_pos" joint="joint5" />
+  <jointpos name="joint6_pos" joint="joint6" />
+  <!-- <tendonpos name="gripper_pos" tendon="gripper_gear" /> -->
+  <jointvel name="joint1_vel" joint="joint1" />
+  <jointvel name="joint2_vel" joint="joint2" />
+  <jointvel name="joint3_vel" joint="joint3" />
+  <jointvel name="joint4_vel" joint="joint4" />
+  <jointvel name="joint5_vel" joint="joint5" />
+  <jointvel name="joint6_vel" joint="joint6" />
+  <!-- <tendonvel name="gripper_vel" tendon="gripper_gear" /> -->
+  <jointactuatorfrc name="joint1_torque" joint="joint1" />
+  <jointactuatorfrc name="joint2_torque" joint="joint2" />
+  <jointactuatorfrc name="joint3_torque" joint="joint3" />
+  <jointactuatorfrc name="joint4_torque" joint="joint4" />
+  <jointactuatorfrc name="joint5_torque" joint="joint5" />
+  <jointactuatorfrc name="joint6_torque" joint="joint6" />
+  <!-- <jointactuatorfrc name="gripper_torque" joint="endright" /> -->
+  <framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <framelinvel name="endpoint_vel" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <gyro name="endpoint_gyro" site="endpoint"/>
+  <accelerometer name="endpoint_acc" site="endpoint" />
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/airbot_play_force/airbot_play_peg.xml ADDED Viewed

	@@ -0,0 +1,44 @@

+<mujocoinclude>
+  <body name="arm_base">
+    <site name="armbase"/>
+    <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="base_link" contype="0" conaffinity="0"/>
+    <body name="link1" pos="0 0 0.1127">
+      <inertial pos="0.00014396 -0.00098536 -0.020968" quat="0.996851 -0.00552866 0.00131697 0.0790989" mass="0.607" diaginertia="0.00111427 0.00101111 0.000386618"/>
+      <joint name="joint1" pos="0 0 0" axis="0 0 1" range="-3.1416 2.0944"/>
+      <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link1"/>
+      <body name="link2" quat="0.135867 0.135871 -0.693931 0.69393">
+        <inertial pos="0.13769 0.012537 0.0044739" quat="0.544988 0.469712 0.519552 0.460896" mass="0.918" diaginertia="0.0348354 0.0346196 0.000895236"/>
+        <joint name="joint2" pos="0 0 0" axis="0 0 1" range="-2.9671 0.17453"/>
+        <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link2"/>
+        <body name="link3" pos="0.27009 0 0" quat="0.55806 0 0 0.8298">
+          <inertial pos="1.5134e-05 0.10706 0.0082136" quat="0.709512 0.704687 -0.00192802 0.00241094" mass="0.7" diaginertia="0.0156592 0.0154818 0.000458584"/>
+          <joint name="joint3" pos="0 0 0" axis="0 0 1" range="-0.087266 3.1416"/>
+          <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link3"/>
+          <body name="link4" pos="0 0.29015 0" quat="0.499998 -0.5 -0.5 -0.500002">
+            <inertial pos="-1.6216e-05 0.002995 -0.019407" quat="0.705825 -0.00378066 0.00351614 0.708367" mass="0.359" diaginertia="0.000529292 0.00051773 0.000136768"/>
+            <joint name="joint4" pos="0 0 0" axis="0 0 1" range="-3.0107 3.0107"/>
+            <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link4"/>
+            <body name="link5" quat="0.707105 0.707108 0 0">
+              <inertial pos="-4.5037e-05 0.033144 0.0024106" quat="0.686718 0.726922 0.00098681 -0.00117372" mass="0.403" diaginertia="0.00116016 0.0010873 0.000239772"/>
+              <joint name="joint5" pos="0 0 0" axis="0 0 1" range="-1.7628 1.7628"/>
+              <geom type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="link5"/>
+              <body name="link6" quat="0.707105 -0.707108 0 0">
+                <body pos="0 -0.075 0.1" euler="3.1416 0 0">
+                  <camera name="eye_arm" euler="-0.6 0 0" fovy="72.5376526571421"/>
+                </body>
+                <inertial pos="-1.12859e-05 -0.00288488 0.120334" quat="0.690668 -0.0374648 0.0402513 0.721078" mass="0.617009" diaginertia="0.00266817 0.00259226 0.000587714"/>
+                <joint name="joint6" pos="0 0 0" axis="0 0 1" range="-3.0107 3.0107"/>
+                <geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
+                <geom pos="0 0 0.0955" quat="1 0 0 0" type="mesh" rgba="0.89804 0.91765 0.92941 1" mesh="eef_connect_base_link"/>
+                <!-- <geom pos="0 0 0.0955" quat="1 0 0 0" type="mesh" rgba="0.75294 0.75294 0.75294 1" mesh="g2_base_link"/> -->
+                <site name="endpoint" pos='0 0 0.165' quat="0.5 0.5 -0.5 0.5"/>
+                <geom name="peg_box" type="box" pos="0 0 0.13" size="0.04 0.0095 0.0095" quat="0.5 0.5 -0.5 0.5" solimp="0.995 0.999 0.001" solref="0.001 1" rgba="1 0 0 1"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_l5/LICENSE ADDED Viewed

	@@ -0,0 +1,28 @@

+BSD 3-Clause License
+Copyright (c) 2023-2025, ARXrobotics
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

assets/discoverse/models/mjcf/manipulator/arx_l5/README.md ADDED Viewed

	@@ -0,0 +1,39 @@

+## ARX L5 Description (MJCF)
+> [!IMPORTANT]
+> Requires MuJoCo 3.1.3 or later.
+## Changelog
+See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes.
+### Overview
+This package contains a simplified robot description (MJCF) of the [ARX L5](https://arx-x.com/). It is derived from [ARX's official model repository](https://github.com/ARXroboticsX/ARX_Model). The initial URDF can be found at the following [commit SHA](https://github.com/ARXroboticsX/ARX_Model/tree/af6fe43c873008a85bce6195c0f2160f1a1c14ce/X5/X5A).
+<p float="left">
+  <img src="arx_l5.png" width="400">
+</p>
+### Derivation steps
+1.  Added `<mujoco> <compiler balanceinertia="true" discardvisual="false"/> </mujoco>` to the URDF's
+    `<robot>` clause in order to preserve visual geometries.
+2.  Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3.  Converted the .stls to .objs and replaced the original .stls with them (since each .obj in MuJoCo can have 1 color).
+4.  Merged similar materials between the .objs.
+5.  Created a `<default>` section to define common properties for joints, actuators, and geoms.
+6.  Added an equality constraint so that the right finger mimics the position of the left finger.
+7.  Manually designed box collision geoms for the gripper.
+8.  Added `exclude` clause to prevent collisions between `base_link` and `link1`.
+9.  Added position controlled actuators.
+10. Added `impratio=10` and `cone=elliptic` for better noslip.
+11. Added `scene.xml` which includes the robot with a textured groundplane, skybox, and haze.
+## License
+This model is released under a [BSD-3-Clause License](LICENSE).
+## Acknowledgement
+This model was graciously contributed by [Jonathan Zamora](https://jonzamora.dev/).

assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.png ADDED Viewed

Git LFS Details

SHA256: cf54f9f893c51e373459cf23c1c6a862f9ede6eb0561d0ccdbe418e13120843e
Pointer size: 131 Bytes
Size of remote file: 578 kB

assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5.xml ADDED Viewed

	@@ -0,0 +1,63 @@

+<mujocoinclude>
+  <body name="base_link">
+    <site name="armbase"/>
+    <geom mesh="base_link" material="black_mat" class="visual"/>
+    <geom mesh="base_link" class="collision"/>
+    <body name="link1" pos="0 0 0.0565">
+      <inertial pos="0.0050395 -0.0077407 0.020897" quat="0.632157 0.714526 -0.263733 0.142391" mass="0.096804" diaginertia="0.000118945 9.40205e-05 4.70346e-05"/>
+      <joint name="joint1" axis="0 0 1" range="-3.14 3.14"/>
+      <geom mesh="link1" material="black_mat" class="visual"/>
+      <geom mesh="link1" class="collision"/>
+      <body name="link2" pos="0.02 0 0.047">
+        <inertial pos="-0.12992 -0.0011822 -2.6366e-05" quat="0.501263 0.501263 0.498734 0.498734" mass="1.1988" diaginertia="0.0164704 0.01646 0.000649595"/>
+        <joint name="joint2" axis="0 1 0" range="0 3.14"/>
+        <geom mesh="link2" material="black_mat" class="visual"/>
+        <geom mesh="link2" class="collision"/>
+        <body name="link3" pos="-0.264 0 0" quat="-3.67321e-06 -1 0 0">
+          <inertial pos="0.16181 0.0011723 -0.05455" quat="0.518857 0.484372 0.465704 0.52848" mass="0.84082" diaginertia="0.0084909 0.00841207 0.000747034"/>
+          <joint name="joint3" axis="0 1 0" range="0 3.14"/>
+          <geom mesh="link3" material="black_mat" class="visual"/>
+          <geom mesh="link3" class="collision"/>
+          <geom type="box" size="0.062 0.001 0.01" pos="0.112 -0.025 -0.06" rgba="1 0 0 1" class="visual"/>
+          <geom type="box" size="0.062 0.001 0.01" pos="0.112 0.023 -0.06" rgba="1 0 0 1" class="visual"/>
+          <body name="link4" pos="0.245 -5e-05 -0.06">
+            <inertial pos="0.041751 0.0054236 -0.03337" quat="0.919386 -0.0641253 0.311071 -0.23206" mass="0.12432" diaginertia="0.000303193 0.000235316 0.000101491"/>
+            <joint name="joint4" axis="0 1 0" range="-1.7 1.7"/>
+            <geom mesh="link4" material="black_mat" class="visual"/>
+            <geom mesh="link4" class="collision"/>
+            <body name="link5" pos="0.073914 5e-05 -0.083391">
+              <inertial pos="-8.3435e-05 -1.5428e-05 0.052216" quat="0.998247 0 -0.0591776 0" mass="0.63601" diaginertia="0.000848329 0.00082 0.000251671"/>
+              <joint name="joint5" axis="0 0 1" range="-1.7 1.7"/>
+              <geom mesh="link5" material="black_mat" class="visual"/>
+              <geom mesh="link5" class="collision"/>
+              <body name="link6" pos="0.025286 0 0.083391" quat="-3.67321e-06 1 0 0">
+                <inertial pos="0.041697 2.4368e-05 0.00014464" quat="0.5 0.5 -0.5 0.5" mass="0.44089" diaginertia="0.0005 0.00038 0.00028"/>
+                <joint name="joint6" axis="1 0 0" range="-3.14 3.14"/>
+                <geom mesh="link6" material="black_mat" class="visual"/>
+                <geom mesh="link6" class="collision"/>
+                <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" material="black_mat" class="visual"/>
+                <geom mesh="camera" pos="0.06 0 -0.01" quat="-1 0 0 1" class="collision"/>
+                <camera name="wrist_cam" pos="0.0475 0 0.075" mode="fixed" euler="0 -1.1 -1.5708" focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"/>
+                <site name="endpoint" pos='0.15 0 0'/>
+                <body name="link7" pos="0.08657 0.024896 -0.0002436" gravcomp="1">
+                  <inertial pos="-0.00035522 -0.007827 -0.0029883" quat="0.5 0.5 0.5 0.5" mass="0.064798" diaginertia="3e-05 3e-05 2e-05"/>
+                  <joint name="joint7" axis="0 1 0" class="finger" range="0 0.044"/>
+                  <geom mesh="link7" material="black_mat" class="visual"/>
+                  <geom type="box" size=".02 .002 .00525" pos="0.05 -0.023 0" rgba="1 0 0 1" class="collision"/>
+                  <geom type="box" size=".015 .002 .018" pos="0.015 -0.023 0" rgba="0 0 1 1" class="collision"/>
+                </body>
+                <body name="link8" pos="0.08657 -0.0249 -0.00024366" gravcomp="1">
+                  <inertial pos="-0.000355223 0.00782769 0.00242006" quat="0.5 0.5 0.5 0.5" mass="0.0647982" diaginertia="3e-05 3e-05 2e-05"/>
+                  <joint name="joint8" axis="0 1 0" class="finger" range="-0.044 0"/>
+                  <geom mesh="link8" material="black_mat" class="visual"/>
+                  <geom type="box" size=".02 .002 .00525" pos="0.05 0.023 0" rgba="1 0 0 1" class="collision"/>
+                  <geom type="box" size=".015 .002 .018" pos="0.015 0.023 0" rgba="0 0 1 1" class="collision"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_appendix.xml ADDED Viewed

	@@ -0,0 +1,11 @@

+<mujocoinclude>
+  <contact>
+    <exclude body1="base_link" body2="link1"/>
+  </contact>
+  <equality>
+    <joint joint1="joint7" joint2="joint8" polycoef="0 -1 0 0 0"/>
+  </equality>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_control.xml ADDED Viewed

	@@ -0,0 +1,9 @@

+<mujocoinclude>
+  <position name="joint1" joint="joint1" class="arx_l5" kp="500" kv="15" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint2" joint="joint2" class="arx_l5" kp="500" kv="15" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint3" joint="joint3" class="arx_l5" kp="500" kv="15" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint4" joint="joint4" class="arx_l5" kp="200" kv="10" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint5" joint="joint5" class="arx_l5" kp="50" kv="5" forcelimited="true" forcerange="-300 300"/>
+  <position name="joint6" joint="joint6" class="arx_l5" kp="50" kv="5" forcelimited="true" forcerange="-300 300"/>
+  <position name="gripper" joint="joint7" class="finger" kp="40" kv="5" forcelimited="true" forcerange="-100 100"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_dependencies.xml ADDED Viewed

	@@ -0,0 +1,39 @@

+<mujocoinclude>
+  <option integrator="implicitfast" cone="elliptic" impratio="10"/>
+  <default>
+    <default class="arx_l5">
+      <joint frictionloss="0.3" armature="0.005"/>
+      <position inheritrange="1" forcerange="-100 100"/>
+      <default class="finger">
+        <joint frictionloss="0" type="slide"/>
+        <position forcerange="-10 10"/>
+      </default>
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" density="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="capsule"/>
+      </default>
+    </default>
+    <site size="0.001" group="3"/>
+  </default>
+  <asset>
+    <material name="black_mat" rgba="0.1 0.1 0.1 1"/>
+  </asset>
+  <asset>
+    <mesh name="base_link" file="arx_l5/base_link.obj"/>
+    <mesh name="link1" file="arx_l5/link1.obj"/>
+    <mesh name="link2" file="arx_l5/link2.obj"/>
+    <mesh name="link3" file="arx_l5/link3.obj"/>
+    <mesh name="link4" file="arx_l5/link4.obj"/>
+    <mesh name="link5" file="arx_l5/link5.obj"/>
+    <mesh name="link6" file="arx_l5/link6.obj"/>
+    <mesh name="link7" file="arx_l5/link7.obj"/>
+    <mesh name="link8" file="arx_l5/link8.obj"/>
+    <mesh name="camera" file="arx_l5/camera.obj"/>
+  </asset>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_l5/arx_l5_sensor.xml ADDED Viewed

	@@ -0,0 +1,13 @@

+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1"/>
+  <jointpos name="joint2_pos" joint="joint2"/>
+  <jointpos name="joint3_pos" joint="joint3"/>
+  <jointpos name="joint4_pos" joint="joint4"/>
+  <jointpos name="joint5_pos" joint="joint5"/>
+  <jointpos name="joint6_pos" joint="joint6"/>
+  <jointpos name="gripper_pos" joint="joint7"/>
+  <framepos name="endpoint_pos" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+  <framequat name="endpoint_quat" objtype="site" objname="endpoint" reftype="site" refname="armbase"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.png ADDED Viewed

Git LFS Details

SHA256: 06b3abe37f4d7b89ed7708774b508eb78530537c2d04cf33948a4902f45e2b60
Pointer size: 131 Bytes
Size of remote file: 589 kB

assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5.xml ADDED Viewed

	@@ -0,0 +1,55 @@

+<mujocoinclude>
+  <body name="link0" childclass="arx_x5">
+    <site name="armbase"/>
+    <geom type="mesh" material="metal_black" mesh="base_link"/>
+    <body name="link1" pos="0 0 0.0605">
+      <inertial pos="0.0054231 -0.0080289 0.017086" quat="0.653281 0.653281 -0.270598 0.270598" mass="0.066982" diaginertia="9e-05 7e-05 3e-05"/>
+      <joint name="joint1" pos="0 0 0" axis="0 0 1" range="-3.1416 3.1416" actuatorfrcrange="-100 100" damping="20"/>
+      <geom type="mesh" material="metal_black" mesh="link1"/>
+      <body name="link2" pos="0.02 0 0.04">
+        <inertial pos="-0.13237 0.0020852 0.00010549" quat="7.64729e-05 0.706196 -0.000379919 0.708016" mass="1.0795" diaginertia="0.0160501 0.01599 0.000509891"/>
+        <joint name="joint2" pos="0 0 0" axis="0 1 0" range="0 3.1416" actuatorfrcrange="-100 100" damping="20"/>
+        <geom type="mesh" material="metal_black" mesh="link2"/>
+        <body name="link3" pos="-0.264 0 0" quat="-3.67321e-06 1 0 0">
+          <inertial pos="0.18531 0.00068376 -0.051638" quat="0.223261 0.638184 0.206685 0.707218" mass="0.54534" diaginertia="0.00424842 0.004221 0.000320578"/>
+          <joint name="joint3" pos="0 0 0" axis="0 1 0" range="0 3.1416" actuatorfrcrange="-100 100" damping="20"/>
+          <geom name="link3" type="mesh" mesh="link3" class="collision"/>
+          <geom type="mesh" class="visual" name="link3_visual_0" mesh="link3_0" material="arx_logo" />
+          <geom type="mesh" class="visual" name="link3_visual_1" mesh="link3" material="metal_white" />
+          <body name="link4" pos="0.245 0 -0.056">
+            <inertial pos="0.040231 0.0044807 -0.035335" quat="0.911288 -0.0751532 0.308689 -0.261949" mass="0.11714" diaginertia="0.000275643 0.00021286 7.14977e-05"/>
+            <joint name="joint4" pos="0 0 0" axis="0 1 0" range="-1.6 1.5708" actuatorfrcrange="-50 50" damping="10"/>
+            <geom type="mesh" material="metal_black" mesh="link4"/>
+            <body name="link5" pos="0.06775 0.0005 -0.0865">
+              <inertial pos="0.003612 -1.5455e-05 0.055214" quat="0.998188 0 -0.0601752 0" mass="0.63488" diaginertia="0.000838471 0.00082 0.000251529"/>
+              <joint name="joint5" pos="0 0 0" axis="0 0 1" range="-1.6 1.6" actuatorfrcrange="-50 50" damping="10"/>
+              <geom type="mesh" material="metal_black" mesh="link5"/>
+              <body name="link6" pos="0.02895 0 0.0865" quat="-3.67321e-06 -1 0 0">
+                <inertial pos="0.041697 2.4368e-05 0.00014464" quat="0.5 0.5 -0.5 0.5" mass="0.44089" diaginertia="0.0005 0.00038 0.00028"/>
+                <joint name="joint6" pos="0 0 0" axis="1 0 0" range="-3.1416 3.1416" actuatorfrcrange="-50 50" damping="10"/>
+                <geom type="mesh" material="metal_black" mesh="link6"/>
+                <site name="endpoint" pos='0.15 0 0'/>
+                <body name="link7" pos="0.08657 0.024896 -0.0002436">
+                  <inertial pos="-0.00035522 -0.007827 -0.0029883" quat="0.5 0.5 0.5 0.5" mass="0.064798" diaginertia="3e-05 3e-05 2e-05"/>
+                  <joint name="finger_joint1" pos="0 0 0" axis="0 1 0" type="slide" range="0 0.044" actuatorfrcrange="-50 50" damping="2"/>
+                  <geom type="mesh" material="metal_black" mesh="link7" class="visual"/>
+                  <geom type="mesh" mesh="link7_collision" class="collision"/>
+                  <geom type="box" size=".02 .002 .00525" pos="0.05 -0.023 0" rgba="1 0 0 1" class="collision"/>
+                  <geom type="box" size=".015 .002 .018" pos="0.015 -0.023 0" rgba="0 0 1 1" class="collision"/>
+                </body>
+                <body name="link8" pos="0.08657 -0.0249 -0.00024366">
+                  <inertial pos="-0.00035522 0.0078277 0.0024201" quat="0.5 0.5 0.5 0.5" mass="0.064798" diaginertia="3e-05 3e-05 2e-05"/>
+                  <joint name="finger_joint2" pos="0 0 0" axis="0 -1 0" type="slide" range="0 0.044" actuatorfrcrange="-50 50" damping="2"/>
+                  <geom type="mesh" material="metal_black" mesh="link8" class="visual"/>
+                  <geom type="mesh" mesh="link8_collision" class="collision"/>
+                  <geom type="box" size=".02 .002 .00525" pos="0.05 0.023 0" rgba="1 0 0 1" class="collision"/>
+                  <geom type="box" size=".015 .002 .018" pos="0.015 0.023 0" rgba="0 0 1 1" class="collision"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_appendix.xml ADDED Viewed

	@@ -0,0 +1,11 @@

+<mujocoinclude>
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+  <contact>
+    <exclude body1="link0" body2="link1"/>
+  </contact>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_control.xml ADDED Viewed

	@@ -0,0 +1,9 @@

+<mujocoinclude>
+  <position name="joint1" joint="joint1" kp="500" kv="5" ctrlrange="-3.1416 3.1416" forcerange="-300 300"/>
+  <position name="joint2" joint="joint2" kp="500" kv="5" ctrlrange="0 3.1416" forcerange="-300 300"/>
+  <position name="joint3" joint="joint3" kp="500" kv="5" ctrlrange="0 3.1416" forcerange="-300 300"/>
+  <position name="joint4" joint="joint4" kp="350" kv="2" ctrlrange="-1.6 1.5708" forcerange="-300 300"/>
+  <position name="joint5" joint="joint5" kp="350" kv="2" ctrlrange="-1.6 1.6" forcerange="-300 300"/>
+  <position name="joint6" joint="joint6" kp="350" kv="2" ctrlrange="-3.1416 3.1416" forcerange="-300 300"/>
+  <position name="gripper" joint="finger_joint1" kp="300" kv="5" ctrlrange="0 0.044" forcerange="-100 100"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_dependencies.xml ADDED Viewed

	@@ -0,0 +1,36 @@

+<mujocoinclude>
+  <default>
+    <default class="arx_x5">
+      <default class="visual">
+        <geom contype="0" conaffinity="0" group="2" />
+      </default>
+      <default class="collision">
+        <geom condim="3" contype="0" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
+        <equality solimp="0.99 0.999 1e-05" solref="0.005 1" />
+      </default>
+    </default>
+    <site size="0.001" group="3"/>
+  </default>
+  <asset>
+    <material class="arx_x5" name="arx_logo" specular="0.5" shininess="0.25" rgba="0 0 0 1" />
+    <material class="arx_x5" name="metal_white" specular="0.5" shininess="0.25" rgba="0.9 0.9 0.9 1" />
+    <material class="arx_x5" name="metal_black" specular="0.5" shininess="0.25" rgba="0.05 0.05 0.05 1" />
+  </asset>
+  <asset>
+    <mesh name="base_link" file="arx_x5/base_link.STL"/>
+    <mesh name="link1" file="arx_x5/link1.STL"/>
+    <mesh name="link2" file="arx_x5/link2.STL"/>
+    <mesh name="link3" file="arx_x5/link3.STL" />
+    <mesh name="link3_0" file="arx_x5/link3_0.STL" />
+    <mesh name="link4" file="arx_x5/link4.STL"/>
+    <mesh name="link5" file="arx_x5/link5.STL"/>
+    <mesh name="link6" file="arx_x5/link6.STL"/>
+    <mesh name="link7" file="arx_x5/link7.STL"/>
+    <mesh name="link7_collision" file="arx_x5/link7_collision.stl"/>
+    <mesh name="link8" file="arx_x5/link8.STL"/>
+    <mesh name="link8_collision" file="arx_x5/link8_collision.stl"/>
+  </asset>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/arx_x5/arx_x5_sensor.xml ADDED Viewed

	@@ -0,0 +1,9 @@

+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1"/>
+  <jointpos name="joint2_pos" joint="joint2"/>
+  <jointpos name="joint3_pos" joint="joint3"/>
+  <jointpos name="joint4_pos" joint="joint4"/>
+  <jointpos name="joint5_pos" joint="joint5"/>
+  <jointpos name="joint6_pos" joint="joint6"/>
+  <jointpos name="gripper" joint="finger_joint1"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/LICENSE ADDED Viewed

	@@ -0,0 +1,176 @@

+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+   1. Definitions.
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
+      "Source" form shall mean the preferred form for making modifications,
+      including but not limited to software source code, documentation
+      source, and configuration files.
+      "Object" form shall mean any form resulting from mechanical
+      transformation or translation of a Source form, including but
+      not limited to compiled object code, generated documentation,
+      and conversions to other media types.
+      "Work" shall mean the work of authorship, whether in Source or
+      Object form, made available under the License, as indicated by a
+      copyright notice that is included in or attached to the work
+      (an example is provided in the Appendix below).
+      "Derivative Works" shall mean any work, whether in Source or Object
+      form, that is based on (or derived from) the Work and for which the
+      editorial revisions, annotations, elaborations, or other modifications
+      represent, as a whole, an original work of authorship. For the purposes
+      of this License, Derivative Works shall not include works that remain
+      separable from, or merely link (or bind by name) to the interfaces of,
+      the Work and Derivative Works thereof.
+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
+      to that Work or Derivative Works thereof, that is intentionally
+      submitted to Licensor for inclusion in the Work by the copyright owner
+      or by an individual or Legal Entity authorized to submit on behalf of
+      the copyright owner. For the purposes of this definition, "submitted"
+      means any form of electronic, verbal, or written communication sent
+      to the Licensor or its representatives, including but not limited to
+      communication on electronic mailing lists, source code control systems,
+      and issue tracking systems that are managed by, or on behalf of, the
+      Licensor for the purpose of discussing and improving the Work, but
+      excluding communication that is conspicuously marked or otherwise
+      designated in writing by the copyright owner as "Not a Contribution."
+      "Contributor" shall mean Licensor and any individual or Legal Entity
+      on behalf of whom a Contribution has been received by Licensor and
+      subsequently incorporated within the Work.
+   2. Grant of Copyright License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      copyright license to reproduce, prepare Derivative Works of,
+      publicly display, publicly perform, sublicense, and distribute the
+      Work and such Derivative Works in Source or Object form.
+   3. Grant of Patent License. Subject to the terms and conditions of
+      this License, each Contributor hereby grants to You a perpetual,
+      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+      (except as stated in this section) patent license to make, have made,
+      use, offer to sell, sell, import, and otherwise transfer the Work,
+      where such license applies only to those patent claims licensable
+      by such Contributor that are necessarily infringed by their
+      Contribution(s) alone or by combination of their Contribution(s)
+      with the Work to which such Contribution(s) was submitted. If You
+      institute patent litigation against any entity (including a
+      cross-claim or counterclaim in a lawsuit) alleging that the Work
+      or a Contribution incorporated within the Work constitutes direct
+      or contributory patent infringement, then any patent licenses
+      granted to You under this License for that Work shall terminate
+      as of the date such litigation is filed.
+   4. Redistribution. You may reproduce and distribute copies of the
+      Work or Derivative Works thereof in any medium, with or without
+      modifications, and in Source or Object form, provided that You
+      meet the following conditions:
+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+      (b) You must cause any modified files to carry prominent notices
+          stating that You changed the files; and
+      (c) You must retain, in the Source form of any Derivative Works
+          that You distribute, all copyright, patent, trademark, and
+          attribution notices from the Source form of the Work,
+          excluding those notices that do not pertain to any part of
+          the Derivative Works; and
+      (d) If the Work includes a "NOTICE" text file as part of its
+          distribution, then any Derivative Works that You distribute must
+          include a readable copy of the attribution notices contained
+          within such NOTICE file, excluding those notices that do not
+          pertain to any part of the Derivative Works, in at least one
+          of the following places: within a NOTICE text file distributed
+          as part of the Derivative Works; within the Source form or
+          documentation, if provided along with the Derivative Works; or,
+          within a display generated by the Derivative Works, if and
+          wherever such third-party notices normally appear. The contents
+          of the NOTICE file are for informational purposes only and
+          do not modify the License. You may add Your own attribution
+          notices within Derivative Works that You distribute, alongside
+          or as an addendum to the NOTICE text from the Work, provided
+          that such additional attribution notices cannot be construed
+          as modifying the License.
+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
+      for use, reproduction, or distribution of Your modifications, or
+      for any such Derivative Works as a whole, provided Your use,
+      reproduction, and distribution of the Work otherwise complies with
+      the conditions stated in this License.
+   5. Submission of Contributions. Unless You explicitly state otherwise,
+      any Contribution intentionally submitted for inclusion in the Work
+      by You to the Licensor shall be under the terms and conditions of
+      this License, without any additional terms or conditions.
+      Notwithstanding the above, nothing herein shall supersede or modify
+      the terms of any separate license agreement you may have executed
+      with Licensor regarding such Contributions.
+   6. Trademarks. This License does not grant permission to use the trade
+      names, trademarks, service marks, or product names of the Licensor,
+      except as required for reasonable and customary use in describing the
+      origin of the Work and reproducing the content of the NOTICE file.
+   7. Disclaimer of Warranty. Unless required by applicable law or
+      agreed to in writing, Licensor provides the Work (and each
+      Contributor provides its Contributions) on an "AS IS" BASIS,
+      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+      implied, including, without limitation, any warranties or conditions
+      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+      PARTICULAR PURPOSE. You are solely responsible for determining the
+      appropriateness of using or redistributing the Work and assume any
+      risks associated with Your exercise of permissions under this License.
+   8. Limitation of Liability. In no event and under no legal theory,
+      whether in tort (including negligence), contract, or otherwise,
+      unless required by applicable law (such as deliberate and grossly
+      negligent acts) or agreed to in writing, shall any Contributor be
+      liable to You for damages, including any direct, indirect, special,
+      incidental, or consequential damages of any character arising as a
+      result of this License or out of the use or inability to use the
+      Work (including but not limited to damages for loss of goodwill,
+      work stoppage, computer failure or malfunction, or any and all
+      other commercial damages or losses), even if such Contributor
+      has been advised of the possibility of such damages.
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
+      or other liability obligations and/or rights consistent with this
+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
+      incurred by, or claims asserted against, such Contributor by reason
+      of your accepting any such warranty or additional liability.
+   END OF TERMS AND CONDITIONS

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/README.md ADDED Viewed

	@@ -0,0 +1,57 @@

+# Franka Emika Panda Description (MJCF)
+Requires MuJoCo 2.3.3 or later.
+## Overview
+This package contains a simplified robot description (MJCF) of the [Franka Emika
+Panda](https://www.franka.de/) developed by [Franka
+Emika](https://www.franka.de/company). It is derived from the [publicly
+available URDF
+description](https://github.com/frankaemika/franka_ros/tree/develop/franka_description).
+<p float="left">
+  <img src="panda.png" width="400">
+</p>
+## URDF → MJCF derivation steps
+1. Converted the DAE [mesh
+   files](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/visual)
+   to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Eliminated the perfectly flat `link0_6` from the resulting submeshes created for `link0`.
+4. Created a convex decomposition of the STL collision [mesh
+   file](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/meshes/collision)
+   for `link5` using [V-HACD](https://github.com/kmammou/v-hacd).
+5. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
+   [URDF](https://github.com/frankaemika/franka_ros/tree/develop/franka_description/robots)'s
+   `<robot>` clause in order to preserve visual geometries.
+6. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+7. Matched inertial parameters with [inertial.yaml](
+   https://github.com/frankaemika/franka_ros/blob/develop/franka_description/robots/common/inertial.yaml).
+8. Added a tracking light to the base.
+9. Manually edited the MJCF to extract common properties into the `<default>` section.
+10. Added `<exclude>` clauses to prevent collisions between `link7` and `link8`.
+11. Manually designed collision geoms for the fingertips.
+12. Added position-controlled actuators for the arm.
+13. Added an equality constraint so that the left finger mimics the position of the right finger.
+14. Added a tendon to split the force equally between both fingers and a
+    position actuator acting on this tendon.
+15. Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+### MJX
+A version of the Franka Emika Panda environment was created for MJX. Steps:
+1. Added `mjx_panda.xml`, forked from `panda.xml`.
+2. Added `mjx_scene.xml` and `mjx_single_cube.xml`, forked from `scene.xml`.
+3. Gripper collision geometries were modified to contain less geoms. A capsule collision geom was added to the hand.
+4. Solver parameters were tuned for performance.
+5. Actuator `kp` and `kv` were reduced for more stable simulation.
+6. Added a `site` to the gripper.
+7. Removed tendon and added position actuator for the gripper. Changed gripper `ctrlrange`.
+## License
+This model is released under an [Apache-2.0 License](LICENSE).

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.png ADDED Viewed

Git LFS Details

SHA256: 7303149e3759c6fa02164438b81f20efe7527d523fbe2d71bbde6f80fde0ea30
Pointer size: 131 Bytes
Size of remote file: 799 kB

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda.xml ADDED Viewed

	@@ -0,0 +1,126 @@

+<mujocoinclude>
+  <body name="link0" childclass="panda">
+    <site name="armbase"/>
+    <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974" fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+    <geom mesh="link0_0" material="off_white" class="visual"/>
+    <geom mesh="link0_1" material="black" class="visual"/>
+    <geom mesh="link0_2" material="off_white" class="visual"/>
+    <geom mesh="link0_3" material="black" class="visual"/>
+    <geom mesh="link0_4" material="off_white" class="visual"/>
+    <geom mesh="link0_5" material="black" class="visual"/>
+    <geom mesh="link0_7" material="white" class="visual"/>
+    <geom mesh="link0_8" material="white" class="visual"/>
+    <geom mesh="link0_9" material="black" class="visual"/>
+    <geom mesh="link0_10" material="off_white" class="visual"/>
+    <geom mesh="link0_11" material="white" class="visual"/>
+    <geom mesh="link0_c" class="collision"/>
+    <body name="link1" pos="0 0 0.333">
+      <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762" fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+      <joint name="joint1" damping="40"/>
+      <geom material="white" mesh="link1" class="visual"/>
+      <geom mesh="link1_c" class="collision"/>
+      <body name="link2" quat="1 -1 0 0">
+        <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495" fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+        <joint name="joint2" range="-1.7628 1.7628" damping="40"/>
+        <geom material="white" mesh="link2" class="visual"/>
+        <geom mesh="link2_c" class="collision"/>
+        <body name="link3" pos="0 -0.316 0" quat="1 1 0 0">
+          <joint name="joint3" damping="40"/>
+          <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2" fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+          <geom mesh="link3_0" material="white" class="visual"/>
+          <geom mesh="link3_1" material="white" class="visual"/>
+          <geom mesh="link3_2" material="white" class="visual"/>
+          <geom mesh="link3_3" material="black" class="visual"/>
+          <geom mesh="link3_c" class="collision"/>
+          <body name="link4" pos="0.0825 0 0" quat="1 1 0 0">
+            <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2" fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+            <joint name="joint4" range="-3.0718 -0.0698" damping="40"/>
+            <geom mesh="link4_0" material="white" class="visual"/>
+            <geom mesh="link4_1" material="white" class="visual"/>
+            <geom mesh="link4_2" material="black" class="visual"/>
+            <geom mesh="link4_3" material="white" class="visual"/>
+            <geom mesh="link4_c" class="collision"/>
+            <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0">
+              <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2" fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+              <joint name="joint5" damping="2"/>
+              <geom mesh="link5_0" material="black" class="visual"/>
+              <geom mesh="link5_1" material="white" class="visual"/>
+              <geom mesh="link5_2" material="white" class="visual"/>
+              <geom mesh="link5_c0" class="collision"/>
+              <geom mesh="link5_c1" class="collision"/>
+              <geom mesh="link5_c2" class="collision"/>
+              <body name="link6" quat="1 1 0 0">
+                <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2" fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                <joint name="joint6" range="-0.0175 3.7525" damping="2"/>
+                <geom mesh="link6_0" material="off_white" class="visual"/>
+                <geom mesh="link6_1" material="white" class="visual"/>
+                <geom mesh="link6_2" material="black" class="visual"/>
+                <geom mesh="link6_3" material="white" class="visual"/>
+                <geom mesh="link6_4" material="white" class="visual"/>
+                <geom mesh="link6_5" material="white" class="visual"/>
+                <geom mesh="link6_6" material="white" class="visual"/>
+                <geom mesh="link6_7" material="light_blue" class="visual"/>
+                <geom mesh="link6_8" material="light_blue" class="visual"/>
+                <geom mesh="link6_9" material="black" class="visual"/>
+                <geom mesh="link6_10" material="black" class="visual"/>
+                <geom mesh="link6_11" material="white" class="visual"/>
+                <geom mesh="link6_12" material="green" class="visual"/>
+                <geom mesh="link6_13" material="white" class="visual"/>
+                <geom mesh="link6_14" material="black" class="visual"/>
+                <geom mesh="link6_15" material="black" class="visual"/>
+                <geom mesh="link6_16" material="white" class="visual"/>
+                <geom mesh="link6_c" class="collision"/>
+                <body name="link7" pos="0.088 0 0" quat="1 1 0 0">
+                  <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2" fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                  <joint name="joint7" damping="2"/>
+                  <geom mesh="link7_0" material="white" class="visual"/>
+                  <geom mesh="link7_1" material="black" class="visual"/>
+                  <geom mesh="link7_2" material="black" class="visual"/>
+                  <geom mesh="link7_3" material="black" class="visual"/>
+                  <geom mesh="link7_4" material="black" class="visual"/>
+                  <geom mesh="link7_5" material="black" class="visual"/>
+                  <geom mesh="link7_6" material="black" class="visual"/>
+                  <geom mesh="link7_7" material="white" class="visual"/>
+                  <geom mesh="link7_c" class="collision"/>
+                  <body name="hand" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834">
+                    <inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
+                    <geom mesh="hand_0" material="off_white" class="visual"/>
+                    <geom mesh="hand_1" material="black" class="visual"/>
+                    <geom mesh="hand_2" material="black" class="visual"/>
+                    <geom mesh="hand_3" material="white" class="visual"/>
+                    <geom mesh="hand_4" material="off_white" class="visual"/>
+                    <geom mesh="hand_c" class="collision"/>
+                    <geom name="hand_capsule" type="capsule" class="collision" conaffinity="1" size="0.04 0.06" quat="1 1 0 0" pos="0 0 0.03"/>
+                    <site name="endpoint" pos="0 0 0.1" quat="0 0.707 0 0.707"/>
+                    <body name="left_finger" pos="0 0 0.0584">
+                      <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                      <joint name="finger_joint1" class="finger" damping="10"/>
+                      <geom mesh="finger_0" material="off_white" class="visual"/>
+                      <geom mesh="finger_1" material="black" class="visual"/>
+                      <geom mesh="finger_0" class="collision"/>
+                      <geom class="fingertip_pad_collision_1"/>
+                      <geom class="fingertip_pad_collision_2"/>
+                      <geom class="fingertip_pad_collision_3"/>
+                      <geom name="left_finger_pad" class="fingertip_pad_collision_4"/>
+                    </body>
+                    <body name="right_finger" pos="0 0 0.0584" quat="0 0 0 1">
+                      <inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
+                      <joint name="finger_joint2" class="finger" damping="10"/>
+                      <geom mesh="finger_0" material="off_white" class="visual"/>
+                      <geom mesh="finger_1" material="black" class="visual"/>
+                      <geom mesh="finger_0" class="collision"/>
+                      <geom class="fingertip_pad_collision_1"/>
+                      <geom class="fingertip_pad_collision_2"/>
+                      <geom class="fingertip_pad_collision_3"/>
+                      <geom name="right_finger_pad" class="fingertip_pad_collision_4"/>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_control.xml ADDED Viewed

	@@ -0,0 +1,10 @@

+<mujocoinclude>
+  <position class="panda" name="actuator1" joint="joint1" kp="6500" kv="300" forcerange="-300 300" ctrlrange="-2.8973 2.8973"/>
+  <position class="panda" name="actuator2" joint="joint2" kp="6500" kv="300" forcerange="-300 300" ctrlrange="-1.7628 1.7628"/>
+  <position class="panda" name="actuator3" joint="joint3" kp="5000" kv="300" forcerange="-300 300" ctrlrange="-2.8973 2.8973"/>
+  <position class="panda" name="actuator4" joint="joint4" kp="5000" kv="200" forcerange="-300 300" ctrlrange="-3.0718 -0.0698"/>
+  <position class="panda" name="actuator5" joint="joint5" kp="3000" kv="150" forcerange="-100 100" ctrlrange="-2.8973 2.8973"/>
+  <position class="panda" name="actuator6" joint="joint6" kp="3000" kv="150" forcerange="-100 100" ctrlrange="-0.0175 3.7525"/>
+  <position class="panda" name="actuator7" joint="joint7" kp="3000" kv="150" forcerange="-100 100"/>
+  <general class="panda" name="actuator8" joint="finger_joint1" ctrlrange="0 0.04" gainprm="350 0 0" biasprm="0 -350 -10" forcerange="-200 200"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_dependencies.xml ADDED Viewed

	@@ -0,0 +1,123 @@

+<mujocoinclude>
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="1" axis="0 0 1" range="-2.8973 2.8973"/>
+      <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/>
+      <position forcerange="-100 100"/>
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh" contype="0" conaffinity="0"/>
+        <default class="primitive_collision">
+          <geom group="3" type="box" contype="0" conaffinity="0" condim="3" solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
+          <default class="fingertip_pad_collision_1">
+            <geom type="box" size="0.011 0.0075 0.01" pos="0 0.0185 0.011"/>
+          </default>
+          <default class="fingertip_pad_collision_2">
+            <geom type="box" size="0.011 0.0044 0.0019" pos="0 0.0068 0.0022"/>
+          </default>
+          <default class="fingertip_pad_collision_3">
+            <geom type="box" size="0.00875 0.0035 0.01175" pos="0 0.0159 0.02835" quat="1 0.25 0 0"/>
+          </default>
+          <default class="fingertip_pad_collision_4">
+            <geom type="box" size="0.00875 0.0076 0.00825" pos="0 0.00758 0.04525" conaffinity="3"/>
+          </default>
+        </default>
+      </default>
+    </default>
+    <site size="0.001" group="3"/>
+  </default>
+  <asset>
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+  </asset>
+  <asset>
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="franka_emika_panda/link0.stl"/>
+    <mesh name="link1_c" file="franka_emika_panda/link1.stl"/>
+    <mesh name="link2_c" file="franka_emika_panda/link2.stl"/>
+    <mesh name="link3_c" file="franka_emika_panda/link3.stl"/>
+    <mesh name="link4_c" file="franka_emika_panda/link4.stl"/>
+    <mesh name="link5_c0" file="franka_emika_panda/link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="franka_emika_panda/link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="franka_emika_panda/link5_collision_2.obj"/>
+    <mesh name="link6_c" file="franka_emika_panda/link6.stl"/>
+    <mesh name="link7_c" file="franka_emika_panda/link7.stl"/>
+    <mesh name="hand_c" file="franka_emika_panda/hand.stl"/>
+    <!-- Visual meshes -->
+    <mesh file="franka_emika_panda/link0_0.obj"/>
+    <mesh file="franka_emika_panda/link0_1.obj"/>
+    <mesh file="franka_emika_panda/link0_2.obj"/>
+    <mesh file="franka_emika_panda/link0_3.obj"/>
+    <mesh file="franka_emika_panda/link0_4.obj"/>
+    <mesh file="franka_emika_panda/link0_5.obj"/>
+    <mesh file="franka_emika_panda/link0_7.obj"/>
+    <mesh file="franka_emika_panda/link0_8.obj"/>
+    <mesh file="franka_emika_panda/link0_9.obj"/>
+    <mesh file="franka_emika_panda/link0_10.obj"/>
+    <mesh file="franka_emika_panda/link0_11.obj"/>
+    <mesh file="franka_emika_panda/link1.obj"/>
+    <mesh file="franka_emika_panda/link2.obj"/>
+    <mesh file="franka_emika_panda/link3_0.obj"/>
+    <mesh file="franka_emika_panda/link3_1.obj"/>
+    <mesh file="franka_emika_panda/link3_2.obj"/>
+    <mesh file="franka_emika_panda/link3_3.obj"/>
+    <mesh file="franka_emika_panda/link4_0.obj"/>
+    <mesh file="franka_emika_panda/link4_1.obj"/>
+    <mesh file="franka_emika_panda/link4_2.obj"/>
+    <mesh file="franka_emika_panda/link4_3.obj"/>
+    <mesh file="franka_emika_panda/link5_0.obj"/>
+    <mesh file="franka_emika_panda/link5_1.obj"/>
+    <mesh file="franka_emika_panda/link5_2.obj"/>
+    <mesh file="franka_emika_panda/link6_0.obj"/>
+    <mesh file="franka_emika_panda/link6_1.obj"/>
+    <mesh file="franka_emika_panda/link6_2.obj"/>
+    <mesh file="franka_emika_panda/link6_3.obj"/>
+    <mesh file="franka_emika_panda/link6_4.obj"/>
+    <mesh file="franka_emika_panda/link6_5.obj"/>
+    <mesh file="franka_emika_panda/link6_6.obj"/>
+    <mesh file="franka_emika_panda/link6_7.obj"/>
+    <mesh file="franka_emika_panda/link6_8.obj"/>
+    <mesh file="franka_emika_panda/link6_9.obj"/>
+    <mesh file="franka_emika_panda/link6_10.obj"/>
+    <mesh file="franka_emika_panda/link6_11.obj"/>
+    <mesh file="franka_emika_panda/link6_12.obj"/>
+    <mesh file="franka_emika_panda/link6_13.obj"/>
+    <mesh file="franka_emika_panda/link6_14.obj"/>
+    <mesh file="franka_emika_panda/link6_15.obj"/>
+    <mesh file="franka_emika_panda/link6_16.obj"/>
+    <mesh file="franka_emika_panda/link7_0.obj"/>
+    <mesh file="franka_emika_panda/link7_1.obj"/>
+    <mesh file="franka_emika_panda/link7_2.obj"/>
+    <mesh file="franka_emika_panda/link7_3.obj"/>
+    <mesh file="franka_emika_panda/link7_4.obj"/>
+    <mesh file="franka_emika_panda/link7_5.obj"/>
+    <mesh file="franka_emika_panda/link7_6.obj"/>
+    <mesh file="franka_emika_panda/link7_7.obj"/>
+    <mesh file="franka_emika_panda/hand_0.obj"/>
+    <mesh file="franka_emika_panda/hand_1.obj"/>
+    <mesh file="franka_emika_panda/hand_2.obj"/>
+    <mesh file="franka_emika_panda/hand_3.obj"/>
+    <mesh file="franka_emika_panda/hand_4.obj"/>
+    <mesh file="franka_emika_panda/finger_0.obj"/>
+    <mesh file="franka_emika_panda/finger_1.obj"/>
+  </asset>
+  <equality>
+    <joint joint1="finger_joint1" joint2="finger_joint2" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/franka_emika_panda/panda_sensor.xml ADDED Viewed

	@@ -0,0 +1,10 @@

+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1"/>
+  <jointpos name="joint2_pos" joint="joint2"/>
+  <jointpos name="joint3_pos" joint="joint3"/>
+  <jointpos name="joint4_pos" joint="joint4"/>
+  <jointpos name="joint5_pos" joint="joint5"/>
+  <jointpos name="joint6_pos" joint="joint6"/>
+  <jointpos name="joint7_pos" joint="joint7"/>
+  <jointpos name="gripper_pos" joint="finger_joint1"/>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/franka_robotiq/panda_robotiq.xml ADDED Viewed

	@@ -0,0 +1,366 @@

+<mujoco model="panda with robotiq gripper">
+  <compiler angle="radian" autolimits="true"/>
+  <!-- <statistic center="0.3 0 0.4" extent="1"/> -->
+  <default>
+    <default class="panda">
+      <material specular="0.5" shininess="0.25"/>
+      <joint armature="0.1" damping="40" axis="0 0 1" range="-2.8973 2.8973"/>
+      <!-- <general dyntype="none" biastype="affine" ctrlrange="-2.8973 2.8973" forcerange="-87 87"/> -->
+      <!-- <motor ctrlrange="-1.0 1.0" ctrllimited="true" gear="150" forcerange="-87 87"/> -->
+      <!-- <position forcerange="-100 100"/> -->
+      <default class="finger">
+        <joint axis="0 1 0" type="slide" range="0 0.04"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh" contype="0" conaffinity="0"/>
+      </default>
+    </default>
+    <!-- Gripper -->
+    <default class="2f85">
+      <mesh scale="0.001 0.001 0.001"/>
+      <general biastype="affine"/>
+      <joint axis="0 0 1"/>
+      <default class="driver">
+        <joint range="0 0.9" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.9" armature="0.001"  solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.9" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/>
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="visual_gripper">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="black"/>
+      </default>
+      <default class="collision_gripper">
+        <geom group="3" type="mesh" contype="0" conaffinity="0"/>
+        <default class="pad_box1">
+          <geom group="3" mass="1e-6" type="box" pos="0.043258  0 0.12"  size="0.002 0.011 0.009375"
+           solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1.0 0.55 0.55 1" conaffinity="3"/>
+        </default>
+        <default class="pad_box2">
+          <geom group="3" mass="1e-6" type="box" pos="0.041258 0 0.12875" size="0.004 0.011 0.01875"
+           solimp="0.99 0.995 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="0.0 0.45 0.45 1" conaffinity="3"/>
+        </default>
+      </default>
+    </default>
+  </default>
+  <asset>
+    <!-- <texture type="skybox" builtin="gradient" rgb1="0 0.5 1" rgb2="0 0.5 1" width="800" height="800"/> -->
+    <material class="panda" name="white" rgba="1 1 1 1"/>
+    <material class="panda" name="off_white" rgba="0.901961 0.921569 0.929412 1"/>
+    <material class="panda" name="black" rgba="0.25 0.25 0.25 1"/>
+    <material class="panda" name="green" rgba="0 1 0 1"/>
+    <material class="panda" name="light_blue" rgba="0.039216 0.541176 0.780392 1"/>
+    <!-- Materials for gripper -->
+    <material class="panda" name="metal" rgba="0.58 0.58 0.58 1"/>
+    <material class="panda" name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
+    <!-- Collision meshes -->
+    <mesh name="link0_c" file="franka/link0.stl"/>
+    <mesh name="link1_c" file="franka/link1.stl"/>
+    <mesh name="link2_c" file="franka/link2.stl"/>
+    <mesh name="link3_c" file="franka/link3.stl"/>
+    <mesh name="link4_c" file="franka/link4.stl"/>
+    <mesh name="link5_c0" file="franka/link5_collision_0.obj"/>
+    <mesh name="link5_c1" file="franka/link5_collision_1.obj"/>
+    <mesh name="link5_c2" file="franka/link5_collision_2.obj"/>
+    <mesh name="link6_c" file="franka/link6.stl"/>
+    <mesh name="link7_c" file="franka/link7.stl"/>
+    <!-- Visual meshes -->
+    <mesh file="franka/link0_0.obj"/>
+    <mesh file="franka/link0_1.obj"/>
+    <mesh file="franka/link0_2.obj"/>
+    <mesh file="franka/link0_3.obj"/>
+    <mesh file="franka/link0_4.obj"/>
+    <mesh file="franka/link0_5.obj"/>
+    <mesh file="franka/link0_7.obj"/>
+    <mesh file="franka/link0_8.obj"/>
+    <mesh file="franka/link0_9.obj"/>
+    <mesh file="franka/link0_10.obj"/>
+    <mesh file="franka/link0_11.obj"/>
+    <mesh file="franka/link1.obj"/>
+    <mesh file="franka/link2.obj"/>
+    <mesh file="franka/link3_0.obj"/>
+    <mesh file="franka/link3_1.obj"/>
+    <mesh file="franka/link3_2.obj"/>
+    <mesh file="franka/link3_3.obj"/>
+    <mesh file="franka/link4_0.obj"/>
+    <mesh file="franka/link4_1.obj"/>
+    <mesh file="franka/link4_2.obj"/>
+    <mesh file="franka/link4_3.obj"/>
+    <mesh file="franka/link5_0.obj"/>
+    <mesh file="franka/link5_1.obj"/>
+    <mesh file="franka/link5_2.obj"/>
+    <mesh file="franka/link6_0.obj"/>
+    <mesh file="franka/link6_1.obj"/>
+    <mesh file="franka/link6_2.obj"/>
+    <mesh file="franka/link6_3.obj"/>
+    <mesh file="franka/link6_4.obj"/>
+    <mesh file="franka/link6_5.obj"/>
+    <mesh file="franka/link6_6.obj"/>
+    <mesh file="franka/link6_7.obj"/>
+    <mesh file="franka/link6_8.obj"/>
+    <mesh file="franka/link6_9.obj"/>
+    <mesh file="franka/link6_10.obj"/>
+    <mesh file="franka/link6_11.obj"/>
+    <mesh file="franka/link6_12.obj"/>
+    <mesh file="franka/link6_13.obj"/>
+    <mesh file="franka/link6_14.obj"/>
+    <mesh file="franka/link6_15.obj"/>
+    <mesh file="franka/link6_16.obj"/>
+    <mesh file="franka/link7_0.obj"/>
+    <mesh file="franka/link7_1.obj"/>
+    <mesh file="franka/link7_2.obj"/>
+    <mesh file="franka/link7_3.obj"/>
+    <mesh file="franka/link7_4.obj"/>
+    <mesh file="franka/link7_5.obj"/>
+    <mesh file="franka/link7_6.obj"/>
+    <mesh file="franka/link7_7.obj"/>
+    <!-- Gripper Meshes -->
+    <mesh name="robotiq_base" file="gripper/robotiq/base.stl"/>
+    <mesh file="gripper/robotiq/base_coupling.stl"/>
+    <mesh file="gripper/robotiq/c-a01-85-open.stl"/>
+    <mesh file="gripper/robotiq/driver.stl"/>
+    <mesh file="gripper/robotiq/coupler.stl"/>
+    <mesh file="gripper/robotiq/spring_link.stl"/>
+    <mesh file="gripper/robotiq/follower.stl"/>
+    <mesh file="gripper/robotiq/tongue.stl"/>
+  </asset>
+  <worldbody>
+    <body name="link0" childclass="panda" gravcomp="1" pos="-0.0089715 -0.00186572 0.516" quat="0.0157989 0.00645533 -0.00626437 0.99983473">
+      <inertial mass="0.629769" pos="-0.041018 -0.00014 0.049974"
+        fullinertia="0.00315 0.00388 0.004285 8.2904e-7 0.00015 8.2299e-6"/>
+      <geom mesh="link0_0" material="off_white" class="visual"/>
+      <geom mesh="link0_1" material="black" class="visual"/>
+      <geom mesh="link0_2" material="off_white" class="visual"/>
+      <geom mesh="link0_3" material="black" class="visual"/>
+      <geom mesh="link0_4" material="off_white" class="visual"/>
+      <geom mesh="link0_5" material="black" class="visual"/>
+      <geom mesh="link0_7" material="white" class="visual"/>
+      <geom mesh="link0_8" material="white" class="visual"/>
+      <geom mesh="link0_9" material="black" class="visual"/>
+      <geom mesh="link0_10" material="off_white" class="visual"/>
+      <geom mesh="link0_11" material="white" class="visual"/>
+      <geom mesh="link0_c" class="collision"/>
+      <body name="link1" pos="0 0 0.333" gravcomp="1">
+        <inertial mass="4.970684" pos="0.003875 0.002081 -0.04762"
+          fullinertia="0.70337 0.70661 0.0091170 -0.00013900 0.0067720 0.019169"/>
+        <joint name="joint1" range="-2.8973 2.8973"/>
+        <geom material="white" mesh="link1" class="visual"/>
+        <geom mesh="link1_c" class="collision"/>
+        <body name="link2" quat="1 -1 0 0" gravcomp="1">
+          <inertial mass="0.646926" pos="-0.003141 -0.02872 0.003495"
+            fullinertia="0.0079620 2.8110e-2 2.5995e-2 -3.925e-3 1.0254e-2 7.04e-4"/>
+          <joint name="joint2" range="-1.7628 1.7628"/>
+          <geom material="white" mesh="link2" class="visual"/>
+          <geom mesh="link2_c" class="collision"/>
+          <body name="link3" pos="0 -0.316 0" quat="1 1 0 0" gravcomp="1">
+            <joint name="joint3" range="-2.8973 2.8973"/>
+            <inertial mass="3.228604" pos="2.7518e-2 3.9252e-2 -6.6502e-2"
+              fullinertia="3.7242e-2 3.6155e-2 1.083e-2 -4.761e-3 -1.1396e-2 -1.2805e-2"/>
+            <geom mesh="link3_0" material="white" class="visual"/>
+            <geom mesh="link3_1" material="white" class="visual"/>
+            <geom mesh="link3_2" material="white" class="visual"/>
+            <geom mesh="link3_3" material="black" class="visual"/>
+            <geom mesh="link3_c" class="collision"/>
+            <body name="link4" pos="0.0825 0 0" quat="1 1 0 0" gravcomp="1">
+              <inertial mass="3.587895" pos="-5.317e-2 1.04419e-1 2.7454e-2"
+                fullinertia="2.5853e-2 1.9552e-2 2.8323e-2 7.796e-3 -1.332e-3 8.641e-3"/>
+              <joint name="joint4" range="-3.0718 -0.0698" />
+              <geom mesh="link4_0" material="white" class="visual"/>
+              <geom mesh="link4_1" material="white" class="visual"/>
+              <geom mesh="link4_2" material="black" class="visual"/>
+              <geom mesh="link4_3" material="white" class="visual"/>
+              <geom mesh="link4_c" class="collision"/>
+              <body name="link5" pos="-0.0825 0.384 0" quat="1 -1 0 0" gravcomp="1">
+                <inertial mass="1.225946" pos="-1.1953e-2 4.1065e-2 -3.8437e-2"
+                  fullinertia="3.5549e-2 2.9474e-2 8.627e-3 -2.117e-3 -4.037e-3 2.29e-4"/>
+                <joint name="joint5" damping="2" range="-2.8973 2.8973"/>
+                <geom mesh="link5_0" material="black" class="visual"/>
+                <geom mesh="link5_1" material="white" class="visual"/>
+                <geom mesh="link5_2" material="white" class="visual"/>
+                <geom mesh="link5_c0" class="collision"/>
+                <geom mesh="link5_c1" class="collision"/>
+                <geom mesh="link5_c2" class="collision"/>
+                <body name="link6" quat="1 1 0 0" gravcomp="1">
+                  <inertial mass="1.666555" pos="6.0149e-2 -1.4117e-2 -1.0517e-2"
+                    fullinertia="1.964e-3 4.354e-3 5.433e-3 1.09e-4 -1.158e-3 3.41e-4"/>
+                  <joint name="joint6" range="-0.0175 3.7525" damping="2"/>
+                  <geom mesh="link6_0" material="off_white" class="visual"/>
+                  <geom mesh="link6_1" material="white" class="visual"/>
+                  <geom mesh="link6_2" material="black" class="visual"/>
+                  <geom mesh="link6_3" material="white" class="visual"/>
+                  <geom mesh="link6_4" material="white" class="visual"/>
+                  <geom mesh="link6_5" material="white" class="visual"/>
+                  <geom mesh="link6_6" material="white" class="visual"/>
+                  <geom mesh="link6_7" material="light_blue" class="visual"/>
+                  <geom mesh="link6_8" material="light_blue" class="visual"/>
+                  <geom mesh="link6_9" material="black" class="visual"/>
+                  <geom mesh="link6_10" material="black" class="visual"/>
+                  <geom mesh="link6_11" material="white" class="visual"/>
+                  <geom mesh="link6_12" material="green" class="visual"/>
+                  <geom mesh="link6_13" material="white" class="visual"/>
+                  <geom mesh="link6_14" material="black" class="visual"/>
+                  <geom mesh="link6_15" material="black" class="visual"/>
+                  <geom mesh="link6_16" material="white" class="visual"/>
+                  <geom mesh="link6_c" class="collision"/>
+                  <body name="link7" pos="0.088 0 0" quat="1 1 0 0" gravcomp="1">
+                    <inertial mass="7.35522e-01" pos="1.0517e-2 -4.252e-3 6.1597e-2"
+                      fullinertia="1.2516e-2 1.0027e-2 4.815e-3 -4.28e-4 -1.196e-3 -7.41e-4"/>
+                    <joint name="joint7" damping="2" range="-2.8973 2.8973"/>
+                    <geom mesh="link7_0" material="white" class="visual"/>
+                    <geom mesh="link7_1" material="black" class="visual"/>
+                    <geom mesh="link7_2" material="black" class="visual"/>
+                    <geom mesh="link7_3" material="black" class="visual"/>
+                    <geom mesh="link7_4" material="black" class="visual"/>
+                    <geom mesh="link7_5" material="black" class="visual"/>
+                    <geom mesh="link7_6" material="black" class="visual"/>
+                    <geom mesh="link7_7" material="white" class="visual"/>
+                    <geom mesh="link7_c" class="collision"/>
+                    <body name="robotiq_base" childclass="2f85" quat="1 0 0 -1" pos="0 0 0.11" gravcomp="1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0"
+                        diaginertia="0.000260285 0.000225381 0.000152708"/>
+                      <geom class="visual_gripper" pos="0 0 0.0108" quat="0 0 0 1" mesh="robotiq_base"/>
+                      <geom class="visual_gripper" pos="0 0 0.004" quat="0.707107 -0.707107 0 0"   mesh="base_coupling"/>
+                      <geom class="visual_gripper" pos="0 0 0.0108" quat="1 0 0 0"  material="metal" mesh="c-a01-85-open"/>
+                      <!-- May have to update -->
+                      <site name="base_top_site" pos="0 0 0.088" />
+                      <site name="gripper" pos="0 0 0.1489" />
+                      <geom name="hand_capsule" class="collision_gripper" type="capsule" conaffinity="1" size="0.040000000000000001 0.06" rgba="1 1 1 0.29999999999999999" pos="0 0 0.01"/>
+                      <!-- Left-hand side 4-bar linkage -->
+                      <body name="left_driver" pos="-0.0306011 0.00475 0.0657045" quat="0.707107 -0.707107 0 0" gravcomp="1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
+                            diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
+                        <joint name="left_driver_joint" class="driver"/>
+                        <geom class="visual_gripper" pos="0.0306011 0.0549045 -0.0047" quat="0.707107 0.707107 0 0"  material="metal" mesh="driver"/>
+                        <body name="left_coupler" pos="-0.0314249 0.00453223 -0.0102" quat="8.02038e-06 0 0 1" gravcomp="1">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
+                          diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
+                          <geom class="visual_gripper" pos="-0.062026 -0.0503723 0.0055" quat="0.707107 -0.707107 0 0"   mesh="coupler"/>
+                          <geom name="left_coupler_col_1" class="pad_box2" pos="0.005 0.025 0.01" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/>
+                          <geom name="left_coupler_col_2" class="pad_box2" pos="0.005 0.025 0.001" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/>
+                        </body>
+                      </body>
+                      <body name="left_spring_link" pos="-0.0127 -0.012 0.07222" quat="0.707107 -0.707107 -4.97726e-06 -4.97726e-06" gravcomp="1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
+                            diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
+                        <joint name="left_spring_link_joint" class="spring_link"/>
+                        <geom class="visual_gripper" pos="0.0127 0.06142 0.01205" quat="0.707107 0.707107 0 0" type="mesh"  mesh="spring_link"/>
+                        <body name="left_follower" pos="-0.0382079 -0.0425003 0.00295" quat="0 -1 -1.90231e-05 0" gravcomp="1">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
+                          diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
+                          <joint name="left_follower" class="follower"/>
+                          <geom class="visual_gripper" pos="0.0509079 -0.10392 -0.0091" quat="0.707107 -0.707107 0 0" type="mesh"  mesh="follower"/>
+                          <geom class="visual_gripper" pos="0.0509079 -0.10392 -0.0091" quat="0.707107 -0.707107 0 0" type="mesh" material="metal" mesh="tongue"/>
+                          <geom name="left_follower_pad2" class="pad_box2" type="capsule" size="0.009 0.012 0.008" pos="-0.0035 -0.002 -0.009" quat="1 1 0 0"/>
+                          <body name="left_pad" pos="-0.0377897 -0.103916 -0.0091" quat="0.707107 -0.707107 3.16527e-05 -3.16527e-05" gravcomp="1">
+                            <geom class="pad_box2" name="left_finger_pad"/>
+                          </body>
+                        </body>
+                      </body>
+                      <!-- Right-hand side 4-bar linkage -->
+                      <body name="right_driver" pos="0.0306011 -0.00475 0.0657045" quat="0 0 -0.707107 0.707107" gravcomp="1">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
+                        diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
+                        <joint name="right_driver_joint" class="driver"/>
+                        <geom class="visual_gripper" pos="0.0306011 0.0549045 -0.0047" quat="0.707107 0.707107 0 0" material="metal" mesh="driver"/>
+                        <body name="right_coupler" pos="-0.0314249 0.00453223 -0.0102" quat="0 0 0 1" gravcomp="1">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
+                          diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
+                          <geom class="visual_gripper" pos="-0.062026 -0.0503723 0.0055" quat="0.707107 -0.707107 0 0"   mesh="coupler"/>
+                          <geom name="right_coupler_col_1" class="pad_box2" pos="0.005 0.025 0.01" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/>
+                          <geom name="right_coupler_col_2" class="pad_box2" pos="0.005 0.025 0.001" quat="1 1 -0.1 0" type="capsule" size="0.009 0.02"/>
+                        </body>
+                      </body>
+                      <body name="right_spring_link" pos="0.0127 0.012 0.07222" quat="0 0 -0.707107 0.707107" gravcomp="1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
+                        diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
+                        <joint name="right_spring_link_joint" class="spring_link"/>
+                        <geom class="visual_gripper" pos="0.0127 0.06142 0.01205" quat="0.707107 0.707107 0 0"   mesh="spring_link"/>
+                        <body name="right_follower" pos="-0.0382079 -0.0425003 0.00295" quat="0 -1 1.79721e-11 0" gravcomp="1">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
+                          diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
+                          <joint name="right_follower_joint" class="follower"/>
+                          <geom class="visual_gripper" pos="0.0509079 -0.10392 -0.0091" quat="0.707107 -0.707107 0 0" material="metal" mesh="tongue"/>
+                          <geom class="visual_gripper" pos="0.0509079 -0.10392 -0.0091" quat="0.707107 -0.707107 0 0" mesh="follower"/>
+                          <geom name="right_follower_pad2" class="pad_box2" type="capsule" size="0.009 0.012 0.008" pos="-0.0035 -0.002 -0.009" quat="1 1 0 0"/>
+                          <body name="right_pad" pos="-0.0377897 -0.103916 -0.0091" quat="0.707107 -0.707107 3.16527e-05 -3.16527e-05" gravcomp="1">
+                            <geom class="pad_box2" name="right_finger_pad"/>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <contact>
+    <exclude body1="robotiq_base" body2="left_driver"/>
+    <exclude body1="robotiq_base" body2="right_driver"/>
+    <exclude body1="robotiq_base" body2="left_spring_link"/>
+    <exclude body1="robotiq_base" body2="right_spring_link"/>
+    <exclude body1="right_coupler" body2="right_follower"/>
+    <exclude body1="left_coupler" body2="left_follower"/>
+  </contact>
+  <equality>
+    <connect anchor="-0.0179014 -0.00651468 0.0044" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <connect anchor="-0.0179014 -0.00651468 0.0044" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001"
+    solref="0.005 1"/>
+  </equality>
+  <actuator>
+    <!-- <motor class="panda" name="actuator1" joint="joint1"/>
+    <motor class="panda" name="actuator2" joint="joint2"/>
+    <motor class="panda" name="actuator3" joint="joint3"/>
+    <motor class="panda" name="actuator4" joint="joint4"/>
+    <motor class="panda" name="actuator5" joint="joint5" forcerange="-12 12" gear="20"/>
+    <motor class="panda" name="actuator6" joint="joint6" forcerange="-12 12" gear="20"/>
+    <motor class="panda" name="actuator7" joint="joint7" forcerange="-12 12" gear="20"/>
+    <general class="2f85" name="fingers_actuator" joint="left_driver_joint" forcerange="-5 5" ctrlrange="0 0.82" gainprm="100 0 0" biasprm="0 -100 -10"/> -->
+    <position class="panda" name="actuator1" joint="joint1" kp="1000" kv="20" ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator2" joint="joint2" kp="1000" kv="20" ctrlrange="-1.7628 1.7628"/>
+    <position class="panda" name="actuator3" joint="joint3" kp="750" kv="4" ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator4" joint="joint4" kp="750" kv="4" ctrlrange="-3.0718 -0.0698"/>
+    <position class="panda" name="actuator5" joint="joint5" kp="300" kv="2" forcerange="-12 12" ctrlrange="-2.8973 2.8973"/>
+    <position class="panda" name="actuator6" joint="joint6" kp="300" kv="2" forcerange="-12 12" ctrlrange="-0.0175 3.7525"/>
+    <position class="panda" name="actuator7" joint="joint7" kp="300" kv="2" forcerange="-12 12"/>
+    <general class="2f85" name="fingers_actuator" joint="left_driver_joint" forcerange="-5 5" ctrlrange="0 0.82" gainprm="100 0 0" biasprm="0 -100 -10"/>
+  </actuator>
+  <!-- <keyframe>
+    <key name="home"
+      qpos="0 -0.76219644  0 -2.75629741 0 1.96083466 0 0 0 0 0 0 0"
+    />
+  </keyframe> -->
+</mujoco>

assets/discoverse/models/mjcf/manipulator/franka_robotiq/pick_fruit.xml ADDED Viewed

	@@ -0,0 +1,61 @@

+<mujoco model="panda pick fruit">
+  <include file="panda_robotiq.xml"/>
+  <!-- For now, we copy over mjx_scene.xml to ensure there's no extra light source -->
+  <statistic center="0.3 0 0.4" extent="1"/>
+  <option timestep="0.005" iterations="5" ls_iterations="8" integrator="implicitfast">
+    <flag eulerdamp="disable"/>
+  </option>
+  <custom>
+    <numeric data="12" name="max_contact_points"/>
+  </custom>
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+    <scale contactwidth="0.075" contactheight="0.025" forcewidth="0.05" com="0.05" framewidth="0.01" framelength="0.2"/>
+  </visual>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+    <mesh name="banana_part_0" file="banana/part_0.obj" />
+    <mesh name="banana_part_1" file="banana/part_1.obj" />
+    <mesh name="banana_part_2" file="banana/part_2.obj" />
+    <mesh name="banana_part_3" file="banana/part_3.obj" />
+  </asset>
+  <worldbody>
+    <!-- Matching the Realsense D435 -->
+    <camera fovy="42" name="front" pos="-1.302 0.035 1.354" xyaxes="-0.029 -1.000 -0.000 0.592 -0.017 0.806"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" contype="1"/>
+    <geom name="table" pos="-0.5 0 0.55" size="0.4 0.6 0.01" type="box" contype="1" rgba="0.6 0.6 0.6 1"/>
+    <body name="banana" pos="-0.273405 -0.0338736 0.549731" quat="0.0635946 0.0247438 0.458839 0.885895">
+      <joint type="free" frictionloss="0.0001"/>
+      <geom type="mesh" mesh="banana_part_0" />
+      <geom type="mesh" mesh="banana_part_1" />
+      <geom type="mesh" mesh="banana_part_2" />
+      <geom type="mesh" mesh="banana_part_3" />
+    </body>
+    <body mocap="true" name="mocap_target">
+      <site name="mocap_target_site" size='0.001' type='sphere'/>
+      <geom name="mocap_target_box" type="box" size="0.02 0.02 0.02" density="0" contype="0" conaffinity="0" rgba="0.3 0.6 0.3 0.2"/>
+      <geom type="cylinder" pos="0.02 0 0" euler="0 1.5708 0" size=".003 0.02" density="0" contype="0" conaffinity="0" rgba="1 0 0 .2"/>
+      <geom type="cylinder" pos="0 0.02 0" euler="1.5708 0 0" size=".003 0.02" density="0" contype="0" conaffinity="0" rgba="0 1 0 .2"/>
+      <geom type="cylinder" pos="0 0 0.02" euler="0 0 0"      size=".003 0.02" density="0" contype="0" conaffinity="0" rgba="0 0 1 .2"/>
+    </body>
+  </worldbody>
+  <keyframe>
+    <key name="home"
+      qpos="0 -0.76219644  0 -2.75629741 0 1.96083466 0 0 0 0 0 0 0  -0.273405 -0.0338736 0.549731 0.0635946 0.0247438 0.458839 0.885895"
+      ctrl="0 -0.76219644  0 -2.75629741 0 1.96083466 0 0"
+    />
+  </keyframe>
+</mujoco>

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/LICENSE ADDED Viewed

	@@ -0,0 +1,31 @@

+All components of Drake are licensed under the BSD 3-Clause License
+shown below. Where noted in the source code, some portions may
+be subject to other permissive, non-viral licenses.
+Copyright 2012-2022 Robot Locomotion Group @ CSAIL
+All rights reserved.
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+Redistributions of source code must retain the above copyright notice,
+this list of conditions and the following disclaimer.  Redistributions
+in binary form must reproduce the above copyright notice, this list of
+conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.  Neither the name of
+the Massachusetts Institute of Technology nor the names of its
+contributors may be used to endorse or promote products derived from
+this software without specific prior written permission.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/README.md ADDED Viewed

	@@ -0,0 +1,31 @@

+# KUKA LBR iiwa 14 Description (MJCF)
+Requires MuJoCo 2.3.3 or later.
+## Overview
+This package contains a simplified robot description (MJCF) of the [LBR iiwa](https://www.kuka.com/en-us/products/robotics-systems/industrial-robots/lbr-iiwa) 14kg developed
+by [KUKA Robotics](https://www.kuka.com/en-us). It is derived from the [publicly available](https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf)
+URDF description created by the [Drake](https://github.com/RobotLocomotion/drake) developers.
+<p float="left">
+  <img src="iiwa_14.png" width="400">
+</p>
+## URDF → MJCF derivation steps
+1. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
+   [URDF](https://github.com/RobotLocomotion/drake/blob/master/manipulation/models/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf)'s
+   `<robot>` clause in order to preserve visual geometries.
+2. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+3. Created base body and added its corresponding inertial properties.
+4. Added a tracking light to the base.
+5. Manually edited the MJCF to extract common properties into the `<default>` section.
+6.  Added `<exclude>` clauses to prevent collisions between `base` and `link1`.
+7.  Added actuators for the arm.
+8.  Added forcelimits to match the torque limits in the [spec sheet](https://www.reeco.co.uk/wp-content/uploads/2020/05/KUKA-LBR-iiwa-technical-data.pdf).
+9.  Added `scene.xml` which includes the robot, with a textured groundplane, skybox, and haze.
+## License
+This model is released under a [BSD-3-Clause License](LICENSE).

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14.xml ADDED Viewed

	@@ -0,0 +1,177 @@

+<mujocoinclude>
+  <body name="base" childclass="iiwa">
+    <site name="armbase"/>
+    <inertial mass="5" pos="-0.1 0 0.07" diaginertia="0.05 0.06 0.03"/>
+    <geom class="visual" mesh="link_0"/>
+    <geom class="collision" size="0.12" pos="0 0 0.03"/>
+    <geom class="collision" size="0.08" pos="-0.08 0 0.103"/>
+    <geom class="collision" size="0.08" pos="-0.08 0 0.04"/>
+    <geom class="collision" size="0.1" pos="0 0 0.14"/>
+    <body name="link1" pos="0 0 0.1575">
+      <inertial mass="5.76" pos="0 -0.03 0.12" diaginertia="0.0333 0.033 0.0123"/>
+      <joint name="joint1" class="joint1"/>
+      <geom class="visual" mesh="link_1"/>
+      <geom class="collision" size="0.08" pos="0 0 -0.0005"/>
+      <geom class="collision" size="0.075" pos="0.01 -0.025 0.0425"/>
+      <geom class="collision" size="0.075" pos="-0.01 -0.025 0.0425"/>
+      <geom class="collision" size="0.07" pos="0.01 -0.045 0.1025"/>
+      <geom class="collision" size="0.07" pos="-0.01 -0.045 0.1025"/>
+      <body name="link2" pos="0 0 0.2025" quat="0 0 1 1">
+        <inertial mass="6.35" pos="0.0003 0.059 0.042" diaginertia="0.0305 0.0304 0.011" quat="0 0 1 1"/>
+        <joint name="joint2" class="joint2"/>
+        <geom class="visual" material="orange" mesh="link_2_orange"/>
+        <geom class="visual" mesh="link_2_grey"/>
+        <geom class="collision" size="0.095" pos="0 0 -0.01"/>
+        <geom class="collision" size="0.09" pos="0 0 0.045"/>
+        <geom class="collision" size="0.07" pos="-0.01 0.04 0.054"/>
+        <geom class="collision" size="0.065" pos="-0.01 0.09 0.04"/>
+        <geom class="collision" size="0.065" pos="-0.01 0.13 0.02"/>
+        <geom class="collision" size="0.07" pos="0.01 0.04 0.054"/>
+        <geom class="collision" size="0.065" pos="0.01 0.09 0.04"/>
+        <geom class="collision" size="0.065" pos="0.01 0.13 0.02"/>
+        <geom class="collision" size="0.075" pos="0 0.18 0"/>
+        <body name="link3" pos="0 0.2045 0" quat="0 0 1 1">
+          <inertial mass="3.5" pos="0 0.03 0.13" diaginertia="0.025 0.0238 0.0076"/>
+          <joint name="joint3" class="joint1"/>
+          <geom class="visual" mesh="link_3"/>
+          <geom class="visual" material="light_gray" mesh="band"/>
+          <geom class="visual" material="black" mesh="kuka"/>
+          <geom class="collision" size="0.075" pos="0 0 0.0355"/>
+          <geom class="collision" size="0.06" pos="0.01 0.023 0.0855"/>
+          <geom class="collision" size="0.055" pos="0.01 0.048 0.1255"/>
+          <geom class="collision" size="0.06" pos="0.01 0.056 0.1755"/>
+          <geom class="collision" size="0.06" pos="-0.01 0.023 0.0855"/>
+          <geom class="collision" size="0.055" pos="-0.01 0.048 0.1255"/>
+          <geom class="collision" size="0.06" pos="-0.01 0.056 0.1755"/>
+          <geom class="collision" size="0.075" pos="0 0.045 0.2155"/>
+          <geom class="collision" size="0.075" pos="0 0 0.2155"/>
+          <body name="link4" pos="0 0 0.2155" quat="1 1 0 0">
+            <inertial mass="3.5" pos="0 0.067 0.034" diaginertia="0.017 0.0164 0.006" quat="1 1 0 0"/>
+            <joint name="joint4" class="joint2"/>
+            <geom class="visual" material="orange" mesh="link_4_orange"/>
+            <geom class="visual" mesh="link_4_grey"/>
+            <geom class="collision" size="0.078" pos="0 0.01 0.046"/>
+            <geom class="collision" size="0.06" pos="0.01 0.06 0.052"/>
+            <geom class="collision" size="0.065" pos="0.01 0.12 0.034"/>
+            <geom class="collision" size="0.06" pos="-0.01 0.06 0.052"/>
+            <geom class="collision" size="0.065" pos="-0.01 0.12 0.034"/>
+            <geom class="collision" size="0.075" pos="0 0.184 0"/>
+            <body name="link5" pos="0 0.1845 0" quat="0 0 1 1">
+              <inertial mass="3.5" pos="0.0001 0.021 0.076" diaginertia="0.01 0.0087 0.00449"/>
+              <joint name="joint5" class="joint1"/>
+              <geom class="visual" mesh="link_5"/>
+              <geom class="visual" material="light_gray" mesh="band"/>
+              <geom class="visual" material="black" mesh="kuka"/>
+              <geom class="collision" size="0.075" pos="0 0 0.0335"/>
+              <geom class="collision" size="0.05" pos="-0.012 0.031 0.0755"/>
+              <geom class="collision" size="0.05" pos="0.012 0.031 0.0755"/>
+              <geom class="collision" size="0.04" pos="-0.012 0.06 0.1155"/>
+              <geom class="collision" size="0.04" pos="0.012 0.06 0.1155"/>
+              <geom class="collision" size="0.04" pos="-0.01 0.065 0.1655"/>
+              <geom class="collision" size="0.04" pos="0.01 0.065 0.1655"/>
+              <geom class="collision" size="0.035" pos="-0.012 0.065 0.1855"/>
+              <geom class="collision" size="0.035" pos="0.012 0.065 0.1855"/>
+              <body name="link6" pos="0 0 0.2155" quat="1 1 0 0">
+                <inertial mass="1.8" pos="0 0.0006 0.0004" diaginertia="0.0049 0.0047 0.0036" quat="1 1 0 0"/>
+                <joint name="joint6" class="joint2"/>
+                <geom class="visual" material="orange" mesh="link_6_orange"/>
+                <geom class="visual" mesh="link_6_grey"/>
+                <geom class="collision" size="0.055" pos="0 0 -0.059"/>
+                <geom class="collision" size="0.065" pos="0 -0.03 0.011"/>
+                <geom class="collision" size="0.08"/>
+                <body name="link7" pos="0 0.081 0" quat="0 0 1 1">
+                  <inertial mass="1.2" pos="0 0 0.02" diaginertia="0.001 0.001 0.001"/>
+                  <joint name="joint7" class="joint3"/>
+                  <geom class="visual" mesh="link_7"/>
+                  <geom class="collision" size="0.06" pos="0 0 0.001"/>
+                  <site name="endpoint" pos="0 0 0.2" quat="-1 0 1 0"/>
+                  <body name="2f85_base_mount" pos="0 0 0.052" quat="1 0 0 -1">
+                    <geom class="visual" mesh="2f85_base_mount" material="2f85_black"/>
+                    <geom class="collision" type="mesh" mesh="2f85_base_mount"/>
+                    <body name="2f85_base" pos="0 0 0.0038" quat="1 0 0 -1">
+                      <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0" diaginertia="0.000260285 0.000225381 0.000152708"/>
+                      <geom class="visual" mesh="2f85_base" material="2f85_black"/>
+                      <geom class="collision" type="mesh" mesh="2f85_base"/>
+                      <site name="pinch" pos="0 0 0.145" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005"/>
+                      <!-- Right-hand side 4-bar linkage -->
+                      <body name="2f85_right_driver" pos="0 0.0306011 0.054904">
+                        <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
+                        <joint name="right_driver_joint" class="2f85_driver"/>
+                        <geom class="visual" mesh="2f85_driver" material="gray"/>
+                        <geom class="collision" type="mesh" mesh="2f85_driver"/>
+                        <body name="2f85_right_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
+                          <joint name="right_coupler_joint" class="2f85_coupler"/>
+                          <geom class="visual" mesh="2f85_coupler" material="2f85_black"/>
+                          <geom class="collision" type="mesh" mesh="2f85_coupler"/>
+                        </body>
+                      </body>
+                      <body name="2f85_right_spring_link" pos="0 0.0132 0.0609">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
+                        <joint name="right_spring_link_joint" class="2f85_spring_link"/>
+                        <geom class="visual" mesh="2f85_spring_link" material="2f85_black"/>
+                        <geom class="collision" type="mesh" mesh="2f85_spring_link"/>
+                        <body name="2f85_right_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0" diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
+                          <joint name="right_follower_joint" class="2f85_follower"/>
+                          <geom class="visual" mesh="2f85_follower" material="2f85_black"/>
+                          <geom class="collision" type="mesh" mesh="2f85_follower"/>
+                          <body name="2f85_right_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="right_pad1"/>
+                            <geom class="pad_box2" name="right_pad2"/>
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
+                            <geom class="visual" mesh="2f85_pad"/>
+                            <body name="2f85_right_silicone_pad">
+                              <geom class="visual" mesh="2f85_silicone_pad" material="2f85_black"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                      <!-- Left-hand side 4-bar linkage -->
+                      <body name="2f85_left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+                        <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0" diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
+                        <joint name="left_driver_joint" class="2f85_driver"/>
+                        <geom class="visual" mesh="2f85_driver" material="gray"/>
+                        <geom class="collision" type="mesh" mesh="2f85_driver"/>
+                        <body name="2f85_left_coupler" pos="0 0.0315 -0.0041">
+                          <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636" diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
+                          <joint name="left_coupler_joint" class="2f85_coupler"/>
+                          <geom class="visual" mesh="2f85_coupler" material="2f85_black"/>
+                          <geom class="collision" type="mesh" mesh="2f85_coupler"/>
+                        </body>
+                      </body>
+                      <body name="2f85_left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+                        <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403" diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
+                        <joint name="left_spring_link_joint" class="2f85_spring_link"/>
+                        <geom class="visual" mesh="2f85_spring_link" material="2f85_black"/>
+                        <geom class="collision" type="mesh" mesh="2f85_spring_link"/>
+                        <body name="2f85_left_follower" pos="0 0.055 0.0375">
+                          <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
+                            diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
+                          <joint name="left_follower_joint" class="2f85_follower"/>
+                          <geom class="visual" mesh="2f85_follower" material="2f85_black"/>
+                          <geom class="collision" type="mesh" mesh="2f85_follower"/>
+                          <body name="2f85_left_pad" pos="0 -0.0189 0.01352">
+                            <geom class="pad_box1" name="left_pad1"/>
+                            <geom class="pad_box2" name="left_pad2"/>
+                            <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
+                            <geom class="visual" mesh="2f85_pad"/>
+                            <body name="2f85_left_silicone_pad">
+                              <geom class="visual" mesh="2f85_silicone_pad" material="2f85_black"/>
+                            </body>
+                          </body>
+                        </body>
+                      </body>
+                    </body>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </body>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14_appendix.xml ADDED Viewed

	@@ -0,0 +1,35 @@

+<mujocoinclude>
+  <contact>
+    <exclude body1="base" body2="link1"/>
+    <exclude body1="base" body2="link2"/>
+    <exclude body1="base" body2="link3"/>
+    <exclude body1="link1" body2="link3"/>
+    <exclude body1="link2" body2="link4"/>
+    <exclude body1="link2" body2="link5"/>
+    <exclude body1="link3" body2="link5"/>
+    <exclude body1="link4" body2="link7"/>
+    <exclude body1="link5" body2="link7"/>
+    <exclude body1="2f85_base" body2="2f85_left_driver"/>
+    <exclude body1="2f85_base" body2="2f85_right_driver"/>
+    <exclude body1="2f85_base" body2="2f85_left_spring_link"/>
+    <exclude body1="2f85_base" body2="2f85_right_spring_link"/>
+    <exclude body1="2f85_right_coupler" body2="2f85_right_follower"/>
+    <exclude body1="2f85_left_coupler" body2="2f85_left_follower"/>
+  </contact>
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5"/>
+      <joint joint="left_driver_joint" coef="0.5"/>
+    </fixed>
+  </tendon>
+  <equality>
+    <connect anchor="0 0 0" body1="2f85_right_follower" body2="2f85_right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <connect anchor="0 0 0" body1="2f85_left_follower" body2="2f85_left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+  </equality>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14_control.xml ADDED Viewed

	@@ -0,0 +1,11 @@

+<mujocoinclude>
+  <general name="actuator1" joint="joint1" class="joint1"/>
+  <general name="actuator2" joint="joint2" class="joint2" gainprm="8000" biasprm="0 -8000 -200"/>
+  <general name="actuator3" joint="joint3" class="joint1"/>
+  <general name="actuator4" joint="joint4" class="joint2"/>
+  <general name="actuator5" joint="joint5" class="joint1"/>
+  <general name="actuator6" joint="joint6" class="joint2"/>
+  <general name="actuator7" joint="joint7" class="joint3"/>
+  <position name="fingers_actuator" tendon="split" kp="100" kv="10" forcerange="-10 10" ctrlrange="0 0.8"/>
+  <!-- <general name="fingers_actuator" tendon="split" biastype="affine" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10"/> -->
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14_dependencies.xml ADDED Viewed

	@@ -0,0 +1,87 @@

+<mujocoinclude>
+  <option integrator="implicitfast"/>
+  <default>
+    <default class="iiwa">
+      <material specular="0.5" shininess="0.25"/>
+      <joint axis="0 0 1"/>
+      <general gaintype="fixed" biastype="affine" gainprm="6000" biasprm="0 -6000 -200" forcerange="-200 200"/>
+      <default class="joint1">
+        <joint range="-2.96706 2.96706"/>
+        <general ctrlrange="-2.96706 2.96706"/>
+        <default class="joint2">
+          <joint range="-3.1416 2.0944"/>
+          <general ctrlrange="-3.1416 2.0944"/>
+        </default>
+      </default>
+      <default class="joint3">
+        <joint range="-3.05433 3.05433"/>
+        <general ctrlrange="-3.05433 3.05433"/>
+      </default>
+      <default class="2f85_driver">
+        <joint axis="1 0 0" range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="2f85_follower">
+        <joint axis="1 0 0" range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="2f85_spring_link">
+        <joint axis="1 0 0" range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/>
+      </default>
+      <default class="2f85_coupler">
+        <joint axis="1 0 0" range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2" material="gray"/>
+      </default>
+      <default class="collision">
+        <geom group="3"/>
+        <default class="pad_box1">
+          <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1"/>
+        </default>
+        <default class="pad_box2">
+          <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6" solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1"/>
+        </default>
+      </default>
+      <site size="0.001" group="3"/>
+    </default>
+  </default>
+  <asset>
+    <material class="iiwa" name="light_gray" rgba="0.6 0.6 0.6 1"/>
+    <material class="iiwa" name="black" rgba="0 0 0 1"/>
+    <material class="iiwa" name="orange" rgba="1 0.423529 0.0392157 1"/>
+    <mesh name="link_0" file="kuka_iiwa_14/link_0.obj"/>
+    <mesh name="link_1" file="kuka_iiwa_14/link_1.obj"/>
+    <mesh name="link_2_orange" file="kuka_iiwa_14/link_2_orange.obj"/>
+    <mesh name="link_2_grey" file="kuka_iiwa_14/link_2_grey.obj"/>
+    <mesh name="link_3" file="kuka_iiwa_14/link_3.obj"/>
+    <mesh name="band" file="kuka_iiwa_14/band.obj"/>
+    <mesh name="kuka" file="kuka_iiwa_14/kuka.obj"/>
+    <mesh name="link_4_orange" file="kuka_iiwa_14/link_4_orange.obj"/>
+    <mesh name="link_4_grey" file="kuka_iiwa_14/link_4_grey.obj"/>
+    <mesh name="link_5" file="kuka_iiwa_14/link_5.obj"/>
+    <mesh name="link_6_orange" file="kuka_iiwa_14/link_6_orange.obj"/>
+    <mesh name="link_6_grey" file="kuka_iiwa_14/link_6_grey.obj"/>
+    <mesh name="link_7" file="kuka_iiwa_14/link_7.obj"/>
+    <material name="metal" rgba="0.58 0.58 0.58 1"/>
+    <material name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
+    <material name="gray" rgba="0.4627 0.4627 0.4627 1"/>
+    <material name="2f85_black" rgba="0.149 0.149 0.149 1"/>
+    <mesh name="2f85_base_mount" file="kuka_iiwa_14/2f85_base_mount.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_base" file="kuka_iiwa_14/2f85_base.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_driver" file="kuka_iiwa_14/2f85_driver.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_coupler" file="kuka_iiwa_14/2f85_coupler.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_follower" file="kuka_iiwa_14/2f85_follower.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_pad" file="kuka_iiwa_14/2f85_pad.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_silicone_pad" file="kuka_iiwa_14/2f85_silicone_pad.stl" scale="0.001 0.001 0.001"/>
+    <mesh name="2f85_spring_link" file="kuka_iiwa_14/2f85_spring_link.stl" scale="0.001 0.001 0.001"/>
+  </asset>
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa14_sensor.xml ADDED Viewed

	@@ -0,0 +1,11 @@

+<mujocoinclude>
+  <jointpos name="joint1_pos" joint="joint1"/>
+  <jointpos name="joint2_pos" joint="joint2"/>
+  <jointpos name="joint3_pos" joint="joint3"/>
+  <jointpos name="joint4_pos" joint="joint4"/>
+  <jointpos name="joint5_pos" joint="joint5"/>
+  <jointpos name="joint6_pos" joint="joint6"/>
+  <jointpos name="joint7_pos" joint="joint7"/>
+  <tendonpos name="gripper_pos" tendon="split" />
+</mujocoinclude>

assets/discoverse/models/mjcf/manipulator/kuka_iiwa_14/iiwa_14.png ADDED Viewed

Git LFS Details

SHA256: a92c6ce09f9f30422fa13f2d05a349b4eaea7c7f35eb89e63a3d9a6e0d6ff6ad
Pointer size: 131 Bytes
Size of remote file: 852 kB

assets/discoverse/models/mjcf/manipulator/new_airbot_play/arm_base_0.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:a8f4b3bd86b7b42f484f80b0d8abaf05bc32c3e769874539cd66db045291f2bc
+size 62028

assets/discoverse/models/mjcf/manipulator/new_airbot_play/arm_base_1.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:ef0ef26d2cf82e2fa82f8147ef47d37bdc76957e0c0c227a63d15cf38bb18d8d
+size 280815

assets/discoverse/models/mjcf/manipulator/new_airbot_play/camera_stand.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:176ac7b8b738eef11e4889876ab5b261c7a984a744d29149aeaea17895da1026
+size 62979

assets/discoverse/models/mjcf/manipulator/new_airbot_play/left.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:91ac8322536db80bfd2db398e30d23dd1f15360f6b8158ad02fb62fb8cfcc709
+size 150722

assets/discoverse/models/mjcf/manipulator/new_airbot_play/link1.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:d448e9742660b9f96f3d9510f23f94c8079aa52a0697aa21756094fc18688c2a
+size 210649

assets/discoverse/models/mjcf/manipulator/new_airbot_play/link2_0.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:fd147d883a2af6484ca8c4060eaf2d2a03d70e89598f367d143e15298b3a0717
+size 346145

assets/discoverse/models/mjcf/manipulator/new_airbot_play/link2_1.obj ADDED Viewed

	@@ -0,0 +1,3 @@

+version https://git-lfs.github.com/spec/v1
+oid sha256:b148bceb4e4277a7ce753ef904103df43302789f9b64d386fd24ded0232871b8
+size 318086