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0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" 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geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_5" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_5" geom2="gen_geom_gadded_4" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8460_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8460_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8460_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/846/846.stl" name="obj0" scale="0.006360751112475493 0.006360751112475493 0.006360751112475493" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.011694508071832917 0.04 0.017054436341642623" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="-0.004686601718613114 -0.012967337482759871 0.03809099144801667" size="0.01147984470350764 0.011420375094106545 0.04595765989756974" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="-0.0015392039811188427 -0.018322959289035372 0.003827839622279844" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.004686601718613114 -0.012967337482759871 0.028090991448016665" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5213_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5213_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5213_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/521/521.stl" name="obj0" scale="0.007611730747003627 0.007611730747003627 0.007611730747003627" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.024662608947020763 0.05471538890522468 0.013144142170656034"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.0011945710483867746 -0.007574849983495037 -0.00022456537511415887" rgba="1 0 0 0" size="0.012331304473510381 0.02735769445261234 0.006572071085328017" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
goal_prox/envs/assets/hand/shared_asset.xml
clvrai/goal_prox_il
7c809b2ee575a69a14997068db06f3c1f3c8bd08
[ "MIT" ]
4
2021-11-17T20:19:34.000Z
2022-03-31T04:21:26.000Z
goal_prox/envs/assets/hand/shared_asset.xml
clvrai/goal_prox_il
7c809b2ee575a69a14997068db06f3c1f3c8bd08
[ "MIT" ]
null
null
null
goal_prox/envs/assets/hand/shared_asset.xml
clvrai/goal_prox_il
7c809b2ee575a69a14997068db06f3c1f3c8bd08
[ "MIT" ]
null
null
null
<!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. --> <mujoco> <!--<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>--> <texture builtin="gradient" height="100" rgb1="1.0 1.0 1.0" rgb2="0 0 0" type="skybox" width="100"/>--> <texture name="robot0:texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture> <texture name="robot0:texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture> <material name="robot0:MatGnd" reflectance="0.5" texture="robot0:texplane" texrepeat="1 1" texuniform="true"></material> <material name="robot0:MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material> <material name="robot0:MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material> <material name="robot0:object" texture="robot0:texgeom" texuniform="false"></material> <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material> <mesh name="robot0:forearm" file="forearm_electric.stl"></mesh> <mesh name="robot0:forearm_cvx" file="forearm_electric_cvx.stl"></mesh> <mesh name="robot0:wrist" scale="0.001 0.001 0.001" file="wrist.stl"></mesh> <mesh name="robot0:palm" scale="0.001 0.001 0.001" file="palm.stl"></mesh> <mesh name="robot0:knuckle" scale="0.001 0.001 0.001" file="knuckle.stl"></mesh> <mesh name="robot0:F3" scale="0.001 0.001 0.001" file="F3.stl"></mesh> <mesh name="robot0:F2" scale="0.001 0.001 0.001" file="F2.stl"></mesh> <mesh name="robot0:F1" scale="0.001 0.001 0.001" file="F1.stl"></mesh> <mesh name="robot0:lfmetacarpal" scale="0.001 0.001 0.001" file="lfmetacarpal.stl"></mesh> <mesh name="robot0:TH3_z" scale="0.001 0.001 0.001" file="TH3_z.stl"></mesh> <mesh name="robot0:TH2_z" scale="0.001 0.001 0.001" file="TH2_z.stl"></mesh> <mesh name="robot0:TH1_z" scale="0.001 0.001 0.001" file="TH1_z.stl"></mesh> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4176_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4176_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4176_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/417/417.stl" name="obj0" scale="0.006476851731910154 0.006476851731910154 0.006476851731910154" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.024153533770304932 0.04 0.03214648371719475" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="-0.009029599156612042 -0.02322254679628402 0.022251724888715217" size="0.018993112322636216 0.01292972754771921 0.04560220535111277" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="-0.0010105273961581573 -0.013001773511779917 0.0008030533079073775" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.009029599156612042 -0.02322254679628402 0.012251724888715215" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
herb_reconf/cluttered_scenes/easy_pushing_055_baseball_2_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_055_baseball_2_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_055_baseball_2_0.9_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
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0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 1.8578602500303518" name="gen_body_0" pos="-0.05 -0.35 0.3002050000039162"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7240034443388916 0.011328093550924234 0.007948395566895416 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.411123497033847" name="gen_body_gadded_1" pos="0.15126545738352948 -0.35 0.300821331582105"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.49059727509158246 0.2585861810676733 0.6548862009498008 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.887815793632868" name="gen_body_gadded_2" pos="-0.11129681176223608 -0.42995509956632855 0.3020717605749901"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6616685491061112 0.9570702185877505 0.6793378551231355 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 1.3501883352033657" name="gen_body_gadded_3" pos="0.36625224803042006 -0.7840515450243604 0.29957061071434843"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.7212211874035357 0.7455913714751192 0.6013208837427115 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 0.9354812898771296" name="gen_body_gadded_4" pos="0.21054062813974572 -0.5650557812260297 0.29984300695886074"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.2960019406428016 0.30564957521800107 0.6091912069356344 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
117.419591
1,626
0.687356
f77a28e707ecdd85c7c7640526c528c8b06b65cc
1,765
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2645_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2645_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2645_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/264/264.stl" name="obj0" scale="0.00821757295970251 0.00821757295970251 0.00821757295970251" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.034650986484953336 0.07540820080028633 0.02995042792355502"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.0007581310173070772 -0.04334547504194952 0.014441580782213817" rgba="1 0 0 0" size="0.017325493242476668 0.037704100400143166 0.01497521396177751" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.04878
198
0.669688
f77aff990c1cac1b347d21b3de9ed855581d154a
4,301
xml
XML
assets/fetch_complex_objects/fetch/train_scene_hook_757.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
19
2019-10-19T09:05:08.000Z
2022-01-27T13:36:37.000Z
assets/fetch_complex_objects/fetch/train_scene_hook_757.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
13
2019-12-07T12:47:20.000Z
2022-01-13T01:44:35.000Z
assets/fetch_complex_objects/fetch/train_scene_hook_757.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
8
2019-10-24T23:36:58.000Z
2022-01-27T13:36:39.000Z
<?xml version="1.0" encoding="utf-8"?> <mujoco> <compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler> <option timestep="0.002"> <flag warmstart="enable"></flag> </option> <include file="shared.xml"></include> <worldbody> <geom name="floor0" pos="1.42 0.75 0" size="1.0 0.7 1" type="plane" condim="3" material="floor_mat"></geom> <body name="floor0" pos="1.42 0.75 0"> <site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site> </body> <include file="robot.xml"></include> <body pos="1.65 0.75 0.2" name="table0"> <geom size="0.5 0.45 0.2" type="box" mass="20000" material="table_mat"></geom><geom size="0.03804294701730072 0.026170203778741536 0.0011062548082661197" pos="0.272335391037223 0.16818450413827618 0.20110625480826613" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.018296759574827796 0.03611580223504736 0.0033987710530134574" pos="-0.13623717276783268 -0.18392671127345483 0.20339877105301346" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.017104897840709378 0.035901605047715245 0.0006730105251617999" pos="-0.11305284336315652 0.2611355228236531 0.20067301052516182" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.04987447180167803 0.018182642214104133 0.0031605058682496485" pos="-0.019732703950197994 -0.14978007557796957 0.20316050586824966" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.04133064344728419 0.019898005786378053 0.0006321895426163332" pos="0.10472055969632865 -0.19698739944034172 0.20063218954261636" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.035783736546949274 0.012445243634635422 0.00023244776733776775" pos="0.09022791238166994 0.21653484185728938 0.20023244776733778" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.021543536840903897 0.044668079185656434 0.0019135405080000574" pos="-0.08847772644308424 0.297686750605386 0.20191354050800006" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> <geom size="0.00111462416701843 0.03464410882144773 0.003763226569239738" pos="0.27592566419579084 0.12251767008297942 0.20376322656923976" type="box" mass="200" rgba="0.4 0.4 0.4 1"></geom> </body> <body pos="1.4599007617264999 0.49864826941099993 0.41335172412449994" name="object0"> <light castshadow="false"/> <geom type="mesh" density="995.595437335" rgba="1 1 1 1" material="object" mesh="object_mesh" conaffinity="0" contype="1"/> <joint name="object0:joint" type="free" damping="3.9515589950019447"></joint> <site name="object0" pos="-0.08490076172649985 0.18635173058900012 0.006648275875500043" size="0.002 0.002 0.002" rgba="1 0 0 0" type="sphere"></site> </body> <body name="hook" pos="1.0 0.025 0.025"> <joint name="hook:joint" type="free" damping="0.01"></joint> <geom size="0.4 0.015 0.015" type="box" condim="3" name="hook_base" material="block_mat" mass="2"></geom> <geom size="0.015 0.1 0.015" pos="0.4 0.085 0." type="box" condim="3" name="hook_head" material="block_mat" mass="2"></geom> <site name="hook" pos="-0.25 0 0" size="0.002 0.002 0.002" rgba="1 0 0 1" type="sphere"></site> </body> <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light> </worldbody> <asset> <mesh scale="0.001007724174795 0.001007724174795 0.001007724174795" file="mujoco_models/Sponge_Holder.stl" name="object_mesh"/> <texture file="textures/obj_textures/woven_0111.png" name="object"/> <material specular="1" texture="object" rgba="0.9 0.9 0.9 1" shininess="0.3" name="object"/> </asset> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position> </actuator> </mujoco>
75.45614
280
0.672634
f77f046838780eec040145a33811b2001cb2fe3e
1,457
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7877_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7877_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7877_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/787/787.stl" name="obj0" scale="0.004596526520197439 0.004596526520197439 0.004596526520197439" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.014435267430464012 0.030052869500296033 0.23139622735845633"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
vendor/mujoco_models/high_gear_ratio_ant.xml
RussellM2020/RoboticTasks
c7157c986cdbbf08cc0ea296205ef2dbcf6fc487
[ "MIT" ]
null
null
null
vendor/mujoco_models/high_gear_ratio_ant.xml
RussellM2020/RoboticTasks
c7157c986cdbbf08cc0ea296205ef2dbcf6fc487
[ "MIT" ]
null
null
null
vendor/mujoco_models/high_gear_ratio_ant.xml
RussellM2020/RoboticTasks
c7157c986cdbbf08cc0ea296205ef2dbcf6fc487
[ "MIT" ]
null
null
null
<!-- Same a gym ant but with gear ratio of 30 and sites --> <mujoco model="ant"> <compiler angle="degree" coordinate="local" inertiafromgeom="true"/> <option integrator="RK4" timestep="0.01"/> <custom> <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/> </custom> <default> <joint armature="1" damping="1" limited="true"/> <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/> </default> <asset> <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/> <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/> <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/> <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/> <material name="geom" texture="texgeom" texuniform="true"/> </asset> <worldbody> <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/> <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/> <body name="torso" pos="0 0 0.75"> <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/> <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/> <body name="front_left_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/> <body name="aux_1" pos="0.2 0.2 0"> <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/> <body pos="0.2 0.2 0"> <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/> </body> </body> </body> <body name="front_right_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/> <body name="aux_2" pos="-0.2 0.2 0"> <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/> <body pos="-0.2 0.2 0"> <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/> </body> </body> </body> <body name="back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/> <body name="aux_3" pos="-0.2 -0.2 0"> <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/> <body pos="-0.2 -0.2 0"> <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/> <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/> </body> </body> </body> <body name="right_back_leg" pos="0 0 0"> <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/> <body name="aux_4" pos="0.2 -0.2 0"> <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/> <body pos="0.2 -0.2 0"> <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/> <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/> </body> </body> </body> </body> <!--By default, this goal will be hidden under the floor--> <!--<site name="goal" rgba="0 1 1 0.5" pos="0. 0. -1" size="0.5" />--> <site name="goal1" rgba="0 1 1 0.5" pos="2. 0.0 0." size="0.1" /> <site name="origin" rgba="1 0 0 0.5" pos="0. 0. 0." size="0.1" /> </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="60"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="60"/> </actuator> </mujoco>
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XML
herb_reconf/cluttered_scenes/easy_pushing_061_foam_brick_4_1.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_061_foam_brick_4_1.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_061_foam_brick_4_1.0_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default class="herb/wam/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> </default> <default class="herb/wam/bhand/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/bhand/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> <default class="herb/wam/bhand/viz"> <geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/> </default> </default> <default class="herb/wam_1/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam_1/col"> <geom conaffinity="1" condim="4" contype="1" group="0" 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0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" 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body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 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geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_3" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_3" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
145.353801
19,113
0.691477
f784be8c4c3c7a3c4d41a642b158cba213acfad5
1,460
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/1839_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1839_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1839_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/183/183.stl" name="obj0" scale="0.0069565474390848895 0.0069565474390848895 0.0069565474390848895" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.011292445196560036 0.043365036727570916 0.22003128791572824"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.421053
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0.619863
f784db16f52bf6b8cf89ede1b86301137a33cead
1,454
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2361_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2361_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2361_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/236/236.stl" name="obj0" scale="0.016733460084530145 0.016733460084530145 0.016733460084530145" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03162659096242375 0.10140921084590512 0.2272727956503303"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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155
0.618294
f78625a5454003f4576e0f0a1238dac810412f98
2,713
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2548_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2548_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2548_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/254/254.stl" name="obj0" scale="0.005724165624153002 0.005724165624153002 0.005724165624153002" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.02576858514939643 0.04 0.02444520385041725" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.015128062980739695 -0.008533776156247109 0.03521015859551945" size="0.01973952754815872 0.025250545163510635 0.057916558047698755" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.010709883243139784 -0.008667286231327604 0.001738804398237947" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.015128062980739695 -0.008533776156247109 0.02521015859551945" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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0.656837
f787101d57c53e5a32414e2fedcf027014916541
5,801
xml
XML
multiworld/envs/assets/classic_mujoco/ant_obstacles/ant_obstacle_position=3.0_height=0.325.xml
szk9876/multiworld
c90149d2913280298d5c54236ac40b793b0c2632
[ "MIT" ]
null
null
null
multiworld/envs/assets/classic_mujoco/ant_obstacles/ant_obstacle_position=3.0_height=0.325.xml
szk9876/multiworld
c90149d2913280298d5c54236ac40b793b0c2632
[ "MIT" ]
null
null
null
multiworld/envs/assets/classic_mujoco/ant_obstacles/ant_obstacle_position=3.0_height=0.325.xml
szk9876/multiworld
c90149d2913280298d5c54236ac40b793b0c2632
[ "MIT" ]
null
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gym/envs/robotics/assets/fetch/random_obj_xml/5049_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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gym/envs/robotics/assets/fetch/random_obj_xml/5049_grasp.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/5049_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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herb_reconf/cluttered_scenes/grasping_potted_plant_2_2_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
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herb_reconf/cluttered_scenes/grasping_potted_plant_2_2_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
herb_reconf/cluttered_scenes/grasping_potted_plant_2_2_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
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geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
119.734694
938
0.683169
f789dc5234f21a03ba8c70390df07affea0aecf7
1,772
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6317_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6317_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6317_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/631/631.stl" name="obj0" scale="0.006448181303787482 0.006448181303787482 0.006448181303787482" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.035257568850560264 0.041845617655008195 0.017927668913027963"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.011909340593399573 -0.010497203981617501 -0.004416677455119617" rgba="1 0 0 0" size="0.017628784425280132 0.020922808827504098 0.008963834456513982" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.219512
200
0.670429
f78b05d6a2f62d5b0d9b6e758a49cdbfbd1ad4e1
1,770
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/1310_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1310_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1310_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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gym/envs/mujoco/assets/striker.xml
leopauly/Observation-Learning-Simulations
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2017-12-11T11:00:02.000Z
2022-03-30T05:19:31.000Z
gym/envs/mujoco/assets/striker.xml
leopauly/Observation-Learning-Simulations
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2018-01-01T17:39:56.000Z
2019-07-24T04:49:08.000Z
gym/envs/mujoco/assets/striker.xml
leopauly/Observation-Learning-Simulations
462c04a87c45aae51537b8ea5b44646afa31d3a5
[ "MIT" ]
12
2017-12-13T11:52:17.000Z
2020-12-03T00:53:29.000Z
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Jekyll1021/gym
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null
null
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gym/envs/robotics/assets/fetch/random_obj_xml/6120_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6120_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
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<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/612/612.stl" name="obj0" scale="0.00428034660500851 0.00428034660500851 0.00428034660500851" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.021122799958180567 0.03420863921606644 0.22539359496974"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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gym/envs/robotics/assets/fetch/random_obj_xml/5203_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5203_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5203_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/520/520.stl" name="obj0" scale="0.003238620853172922 0.003238620853172922 0.003238620853172922" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.03329754348532867 0.026363997913185448 0.019207547783580903"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.0035793353423884053 -0.016100836911342786 -4.202813431413297e-05" rgba="1 0 0 0" size="0.016648771742664336 0.013181998956592724 0.009603773891790452" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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gym/envs/robotics/assets/fetch/random_obj_xml/997_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/997_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/997_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/099/099.stl" name="obj0" scale="0.006838145612642986 0.006838145612642986 0.006838145612642986" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03934511024351122 0.061590216773616806 0.23992127871654131"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
mujoco_py/tests/test.xml
iZuno-K/mujoco-py
d73ce6e91d096b74da2a2fcb0a4164e10db5f641
[ "Linux-OpenIB" ]
11
2018-07-15T14:37:29.000Z
2020-10-05T13:46:39.000Z
mujoco_py/tests/test.xml
iZuno-K/mujoco-py
d73ce6e91d096b74da2a2fcb0a4164e10db5f641
[ "Linux-OpenIB" ]
2
2018-01-29T22:07:24.000Z
2018-04-13T00:38:26.000Z
mujoco_py/tests/test.xml
iZuno-K/mujoco-py
d73ce6e91d096b74da2a2fcb0a4164e10db5f641
[ "Linux-OpenIB" ]
2
2018-01-27T23:39:23.000Z
2018-04-12T23:44:16.000Z
<?xml version="1.0" encoding="utf-8"?> <mujoco> <include file="include.xml"/> <worldbody> <body name="particle" pos="0.15 0.15 0.15"> <joint axis="1 0 0" damping="0.1" name="slide0" pos="0 0 0" type="slide"></joint> <joint axis="0 1 0" damping="0.1" name="slide1" pos="0 0 0" type="slide"></joint> <joint axis="0 0 1" damping="10000" name="slide2" pos="0 0 0" type="slide"></joint> <geom mass="1" pos="0 0 0" rgba="1 0 0 1" size="0.15" type="sphere"></geom> <camera euler="0 0 0" fovy="40" name="rgb" pos="0 0 2.5"></camera> </body> </worldbody> <actuator> <motor gear="100" joint="slide0"></motor> <motor gear="100" joint="slide1"></motor> </actuator> </mujoco>
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XML
bullet_safety_gym/envs/data/robots/mujoco/half_cheetah.xml
liuzuxin/Bullet-Safety-Gym
6420fb2a5fabd3369ba613066559dd13b39de37f
[ "MIT" ]
21
2021-05-10T05:05:18.000Z
2022-03-29T10:50:41.000Z
bullet_safety_gym/envs/data/robots/mujoco/half_cheetah.xml
liuzuxin/Bullet-Safety-Gym
6420fb2a5fabd3369ba613066559dd13b39de37f
[ "MIT" ]
2
2021-05-10T05:02:59.000Z
2021-09-15T12:21:11.000Z
bullet_safety_gym/envs/data/robots/mujoco/half_cheetah.xml
liuzuxin/Bullet-Safety-Gym
6420fb2a5fabd3369ba613066559dd13b39de37f
[ "MIT" ]
2
2021-05-14T09:21:24.000Z
2021-09-05T14:25:26.000Z
<!-- Cheetah Model The state space is populated with joints in the order that they are defined in this file. The actuators also operate on joints. State-Space (name/joint/parameter): - rootx slider position (m) - rootz slider position (m) - rooty hinge angle (rad) - bthigh hinge angle (rad) - bshin hinge angle (rad) - bfoot hinge angle (rad) - fthigh hinge angle (rad) - fshin hinge angle (rad) - ffoot hinge angle (rad) - rootx slider velocity (m/s) - rootz slider velocity (m/s) - rooty hinge angular velocity (rad/s) - bthigh hinge angular velocity (rad/s) - bshin hinge angular velocity (rad/s) - bfoot hinge angular velocity (rad/s) - fthigh hinge angular velocity (rad/s) - fshin hinge angular velocity (rad/s) - ffoot hinge angular velocity (rad/s) Actuators (name/actuator/parameter): - bthigh hinge torque (N m) - bshin hinge torque (N m) - bfoot hinge torque (N m) - fthigh hinge torque (N m) - fshin hinge torque (N m) - ffoot hinge torque (N m) --> <mujoco model="cheetah"> <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/> <default> <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/> <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/> <motor ctrllimited="true" ctrlrange="-1 1"/> </default> <size nstack="300000" nuser_geom="1"/> <option gravity="0 0 -9.81" timestep="0.01"/> <worldbody> <body name="torso" pos="0 0 1.7"> <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/> <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/> <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/> <!-- <site name='tip' pos='.15 0 .11'/>--> <body name="bthigh" pos="-.5 0 0"> <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/> <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/> <body name="bshin" pos=".16 0 -.25"> <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/> <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/> <body name="bfoot" pos="-.28 0 -.14"> <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/> <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/> <inertial mass="10"/> </body> </body> </body> <body name="fthigh" pos=".5 0 0"> <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/> <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/> <body name="fshin" pos="-.14 0 -.24"> <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/> <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/> <body name="ffoot" pos=".13 0 -.18"> <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/> <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/> <inertial mass="10"/> </body> </body> </body> </body> <!-- IMPORTANT NOTE: --> <!-- Place objects after the agent !--> <body name="safety_platform" pos="49 0 0.5"> <geom type="box" size="50 3.0 0.5" rgba="0 .9 0 1" contype="1" conaffinity="1"/> <body name="safety_boundary_1" pos="0 1.1 0.55"> <geom type="box" size="50 0.1 0.01" rgba="0 .9 0 1" contype="1" conaffinity="0" /> </body> <body name="safety_boundary_2" pos="0 -1.1 0.55"> <geom type="box" size="50 .1 0.01" rgba="0 .9 0 1" contype="1" conaffinity="0" /> </body> </body> </worldbody> <actuator> <motor gear="120" joint="bthigh" name="bthigh"/> <motor gear="90" joint="bshin" name="bshin"/> <motor gear="60" joint="bfoot" name="bfoot"/> <motor gear="120" joint="fthigh" name="fthigh"/> <motor gear="60" joint="fshin" name="fshin"/> <motor gear="30" joint="ffoot" name="ffoot"/> </actuator> </mujoco>
53.24
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6855_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6855_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6855_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/685/685.stl" name="obj0" scale="0.005900808152556543 0.005900808152556543 0.005900808152556543" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.008958657094080641 0.04 0.010593210456379567" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.000751929901159079 -0.00967065785479087 0.049084283237447665" size="0.01001144098473855 0.010086005454104513 0.05915582642220997" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="0.000768458740283465 -0.009776621084672334 -0.0011128860906816614" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.000751929901159079 -0.00967065785479087 0.03908428323744766" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.277778
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/3919_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3919_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/3919_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/391/391.stl" name="obj0" scale="0.005532088017221697 0.005532088017221697 0.005532088017221697" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.015060133213351031 0.04435765644595585 0.020169240546819966"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.00015188255367394645 -0.016328762586203808 0.00016818725410333894" rgba="1 0 0 0" size="0.007530066606675516 0.022178828222977925 0.010084620273409983" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.243902
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0.671743
f7933d98ba0804fcbb0f8f54231d37c83e591501
1,770
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8438_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8438_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8438_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/843/843.stl" name="obj0" scale="0.006182510899674124 0.006182510899674124 0.006182510899674124" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.01850445914558434 0.04144113253384602 0.029773531967790957"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.00041107176598157195 -0.00802713219172447 -0.0008570567694174636" rgba="1 0 0 0" size="0.00925222957279217 0.02072056626692301 0.014886765983895479" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7146_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7146_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7146_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/714/714.stl" name="obj0" scale="0.006135500064729526 0.006135500064729526 0.006135500064729526" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.01657820093640002 0.04 0.014147349556004538" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="-0.0007227283492025417 -0.003979088961154518 0.04290013963060028" size="0.01646987356091858 0.014681313260609112 0.055873308285868145" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="-0.000827353204899719 -0.0025083958109166087 0.001174180900736669" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0007227283492025417 -0.003979088961154518 0.032900139630600275" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
assets/fetch_complex_objects/fetch/train_scene_hook_351.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
19
2019-10-19T09:05:08.000Z
2022-01-27T13:36:37.000Z
assets/fetch_complex_objects/fetch/train_scene_hook_351.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
13
2019-12-07T12:47:20.000Z
2022-01-13T01:44:35.000Z
assets/fetch_complex_objects/fetch/train_scene_hook_351.xml
NagisaZj/ac-teach
481811d5c80d0dbee54f16c063b4ea3262b82050
[ "MIT" ]
8
2019-10-24T23:36:58.000Z
2022-01-27T13:36:39.000Z
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metaworld/envs/assets_updated/objects/assets/shelfb_dependencies.xml
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gym/envs/robotics/assets/fetch/random_obj_xml/8214_peg.xml
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mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 3.344860461299575" name="gen_body_0" pos="-0.05 -0.35 0.3031880000606179"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.6549592011619787 0.0345434573118113 0.4820760766944908 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.239580544653849" name="gen_body_gadded_1" pos="0.07109604451098943 -0.35 0.3176262131139439"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.11805393623175109 0.27290531509254745 0.4323867811427745 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.8084800452825849" name="gen_body_gadded_2" pos="0.048481712258267265 -0.4942117179738497 0.3010665813064683"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.23770950635515564 0.9193023576217519 0.600609518616217 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 5.541581011611923" name="gen_body_gadded_3" pos="0.1817282152726338 -0.0777129726257742 0.30017136503967873"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.4300475217579709 0.8502592352478365 0.04051386609227847 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.722081183281637" name="gen_body_gadded_4" pos="-0.053721762173567104 -0.34290277782803186 0.30029486687597606"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.3192987635513701 0.9095551128843727 0.40037840123224766 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 4.798319689970777" name="gen_body_gadded_5" pos="-0.4885991685929671 -0.5024536561789581 0.2991618191374765"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.9647089682168766 0.5671678227758238 0.19184092811770326 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body><body euler="0 0 0.6044494557224256" name="gen_body_gadded_6" pos="0.662534059889888 -0.19872150328966504 0.2990886226748418"><geom class="/" mesh="gen_mesh_gadded_6" name="gen_geom_gadded_6" rgba="0.3631289726106942 0.21107205325900447 0.3854843689860704 1" type="mesh"/><joint class="/" name="gen_joint_gadded_6" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
118.910819
2,294
0.688806
f7a1750ec97eb84ad838b1493a156518d8fd53db
2,715
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/700_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/700_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/700_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/070/070.stl" name="obj0" scale="0.006809275015637925 0.006809275015637925 0.006809275015637925" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.013231830875312727 0.04 0.013660951386798228" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.0018533400718326537 -0.00887966716742977 0.037692125389597333" size="0.010639940772057427 0.012544184017705054 0.0532289695629431" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="0.000223830987922149 -0.0081080503004614 -0.0023050132980330417" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0018533400718326537 -0.00887966716742977 0.02769212538959733" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.277778
221
0.656722
f7a187231db252ade83d64c4fdaf582ff2bfa887
1,769
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6305_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6305_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6305_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/630/630.stl" name="obj0" scale="0.005840779412724978 0.005840779412724978 0.005840779412724978" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.016630302281976806 0.04004927238601091 0.025518222155099822"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.00376509466118916 0.0012199050127580976 -0.006029397043493296" rgba="1 0 0 0" size="0.008315151140988403 0.020024636193005454 0.012759111077549911" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.146341
198
0.671001
f7a2186dd673f82f0249b55c95912c2cbf3e722d
1,770
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4295_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4295_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4295_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
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herb_reconf/cluttered_scenes/hard_pushing_015_peach_2_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/hard_pushing_015_peach_2_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/hard_pushing_015_peach_2_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
118.156433
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f7a70536661dcce3d7b0ec079d068526919f5b9f
99,412
xml
XML
herb_reconf/cluttered_scenes/hard_pushing_003_cracker_box_4_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_003_cracker_box_4_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_003_cracker_box_4_0.1_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default class="herb/wam/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> </default> <default class="herb/wam/bhand/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/bhand/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> <default class="herb/wam/bhand/viz"> <geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/> </default> </default> <default class="herb/wam_1/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam_1/col"> <geom conaffinity="1" condim="4" contype="1" group="0" 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name="gen_geom_gadded_2" rgba="0.2503570629586128 0.8648820396818269 0.7669844409093831 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.8367570329720169" name="gen_body_gadded_3" pos="0.07729467114833428 -0.07364029911008585 0.29974797566958955"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.6253343604664159 0.9930990965020363 0.7618213357491892 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 4.319185910797416" name="gen_body_gadded_4" pos="0.16384516616150932 0.17622216774800753 0.30054118300277394"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.6909687360321138 0.19745288026944274 0.973843940808956 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" 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solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_4" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_4" geom2="gen_geom_gadded_3" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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19,113
0.691516
f7a7a4fc920421a250f30704349874af994019c2
79,806
xml
XML
herb_reconf/cluttered_scenes/easy_pushing_lamp_4_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_lamp_4_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_lamp_4_2_0.4_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default 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name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 4.889450474320924" name="gen_body_0" pos="-0.05 -0.35 0.5317436635494233"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.07599407097008937 0.13297384663969403 0.11587664833933542 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.7543530052757603" name="gen_body_gadded_1" pos="0.22891781633693398 -0.35 0.300384218987524"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.5471137768873645 0.40344867816739793 0.9540745564937184 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 0.49092436144249263" name="gen_body_gadded_2" pos="0.05009636578479597 -0.04231187818593324 0.30011441007982836"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.3399657653210705 0.6914402224761195 0.668398535302153 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.5938994985347849" name="gen_body_gadded_3" pos="-0.040878523376219195 -0.10630729685007334 0.3042952525926624"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.13655448011996174 0.7287340823691276 0.8653567676700966 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
116.675439
1,292
0.686628
f7a80e494edb65d09a5085c134c99550859f72bb
2,219
xml
XML
dex_envs/assets/hand/manipulate_mouse.xml
huangwl18/geometry-dex
0c629316258ef560b360c6103d83d5cb828e3ccd
[ "MIT" ]
29
2021-11-11T23:05:02.000Z
2022-03-10T06:05:23.000Z
dex_envs/assets/hand/manipulate_mouse.xml
huangwl18/geometry-dex
0c629316258ef560b360c6103d83d5cb828e3ccd
[ "MIT" ]
2
2021-12-13T16:18:14.000Z
2022-03-09T14:04:37.000Z
dex_envs/assets/hand/manipulate_mouse.xml
huangwl18/geometry-dex
0c629316258ef560b360c6103d83d5cb828e3ccd
[ "MIT" ]
2
2021-11-18T06:00:30.000Z
2021-12-17T03:04:52.000Z
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"/> <option timestep="0.002" iterations="20" apirate="200"> <flag warmstart="enable"/> </option> <include file="shared.xml"/> <asset> <include file="shared_asset.xml"/> <texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/> <texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."/> <material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"/> <material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"/> <material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"/> <mesh name="mesh:object" file="contactdb_objects/mouse.stl"/></asset> <worldbody> <geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"/> <body name="floor0" pos="1 1 0"/> <include file="robot.xml"/> <body name="object" pos="1 0.87 0.2"> <geom name="object" type="mesh" size="0" material="material:object" condim="4" density="567" mesh="mesh:object"/> <!-- <geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom> --> <site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"/> <joint name="object:joint" type="free" damping="0.01"/> </body> <body name="target" pos="1 0.87 0.2"> <geom name="target" type="mesh" size="0" material="material:target" condim="4" group="2" contype="0" conaffinity="0" mesh="mesh:object"/> <site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"/> <joint name="target:joint" type="free" damping="0.01"/> </body> <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"/> </worldbody> </mujoco>
55.475
166
0.602524
f7a9d875f88a6365e508011593c1531f9d00f311
1,766
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5346_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5346_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5346_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/534/534.stl" name="obj0" scale="0.006724577773474877 0.006724577773474877 0.006724577773474877" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.037459748019030376 0.07588605994890894 0.02501707011430327"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.008080832603791511 0.0210094356475183 0.00024820107249564233" rgba="1 0 0 0" size="0.018729874009515188 0.03794302997445447 0.012508535057151635" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
43.073171
196
0.671008
f7ab80626a106d19612a282f5d9aa90dd627de62
2,717
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6654_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6654_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6654_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/665/665.stl" name="obj0" scale="0.005055579141236577 0.005055579141236577 0.005055579141236577" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.021141390519348272 0.04 0.01720088002466112" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.0006892883708799371 -0.011884053946855214 0.0428661985779661" size="0.012613555543069924 0.015404491054466597 0.058450756517577376" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.002423235459418536 -0.009350319996731334 0.001616322085049847" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0006892883708799371 -0.011884053946855214 0.032866198577966105" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.314815
222
0.657343
f7afe9ae7bcb367dccb158e725f5f0f74a969001
1,764
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5249_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5249_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5249_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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basujindal/iBot-Hexapod_RL
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basujindal/iBot-Hexapod_RL
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gym/envs/robotics/assets/fetch/random_obj_xml/3846_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
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gym/envs/robotics/assets/fetch/random_obj_xml/3846_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
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gym/envs/robotics/assets/fetch/random_obj_xml/3846_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 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mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 5.454850866831721" name="gen_body_0" pos="0 0 0.2999690000004193"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.3156459145887941 0.45303067684589227 0.26698226388996205 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 5.425635051218873" name="gen_body_gadded_1" pos="0.2272079130456017 0.0 0.308230001529163"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.042601131064823106 0.3546952789784885 0.4691666036213711 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 3.7614971188891317" name="gen_body_gadded_2" pos="0.11495679869427122 0.39893081391316354 0.3002745835548858"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.6297285178269824 0.3525187079173151 0.06753759936467085 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
115.938596
940
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1,454
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/1125_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1125_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1125_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/112/112.stl" name="obj0" scale="0.004561464836040205 0.004561464836040205 0.004561464836040205" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03569786871704622 0.0379432862743057 0.21754585238895727"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.263158
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2367_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2367_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2367_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/236/236.stl" name="obj0" scale="0.019830569010188353 0.019830569010188353 0.019830569010188353" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.0374801918712052 0.12017851321781362 0.03232057527328935"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="-0.005482945488833574 -0.015380330937112656 -0.002821032976330804" rgba="1 0 0 0" size="0.0187400959356026 0.06008925660890681 0.016160287636644673" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4035_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4035_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4035_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/403/403.stl" name="obj0" scale="0.003675003626769204 0.003675003626769204 0.003675003626769204" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.02369018139174776 0.04 0.0194845237787894" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.008121220876736696 -0.0007422810404154922 0.030952094994012008" size="0.018018566502820115 0.01679192912206673 0.05307314725137384" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.004986621140501294 0.003461396904199298 -0.0026365284785724325" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.008121220876736696 -0.0007422810404154922 0.020952094994012006" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5020_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5020_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5020_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/502/502.stl" name="obj0" scale="0.005644905433332732 0.005644905433332732 0.005644905433332732" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.030499336560262536 0.036898127581575 0.21498041899199855"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.263158
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0.618294
f7c12c5134da06240d6d4dd145e8149407ef8321
2,719
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/761_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/761_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/761_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
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mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 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</body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 1.6549872271833759" name="gen_body_0" pos="0 0 0.30024799999664536"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9279060853106005 0.5095038636090751 0.8196135213795328 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.568203326810688" name="gen_body_gadded_1" pos="0.12034214407219034 -0.08461872429845174 0.5281159214326092"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.738261651577387 0.5976365795397948 0.05332132738166806 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.849430867068256" name="gen_body_gadded_2" pos="-0.28836370149343105 0.02907742940167395 0.30597090883999617"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.073235692753993 0.0030946452132391 0.5787325182301639 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 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geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity 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gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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gym/envs/robotics/assets/fetch/random_obj_xml/5155_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5155_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5155_grasp.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/515/515.stl" name="obj0" scale="0.01847584613538713 0.01847584613538713 0.01847584613538713" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.2"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.2" type="box" /> </body> <body name="object0" pos="0.03444869549142882 0.11889228235344673 0.035968832683910074"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="object0" pos="0.003272472973901156 0.009571635693062698 0.0002920564642018227" rgba="1 0 0 0" size="0.01722434774571441 0.059446141176723366 0.017984416341955037" type="ellipsoid" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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gym/envs/robotics/assets/fetch/random_obj_xml/4609_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4609_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4609_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/460/460.stl" name="obj0" scale="0.009022518880901456 0.009022518880901456 0.009022518880901456" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.024742922698077874 0.06468846941105443 0.21606164901503044"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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gym/envs/robotics/assets/fetch/random_obj_xml/5796_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5796_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5796_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/579/579.stl" name="obj0" scale="0.008738989243040923 0.008738989243040923 0.008738989243040923" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03723477513263064 0.0592664355470139 0.2376652883292052"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
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XML
herb_reconf/cluttered_scenes/easy_pushing_056_tennis_ball_1_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_056_tennis_ball_1_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_056_tennis_ball_1_0.7_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default 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mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" 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name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 2.0254263146040135" name="gen_body_0" pos="-0.05 -0.35 0.30009699999645817"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.27402839418171576 0.3857753853080127 0.06392935488078189 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 1.088340652734423" name="gen_body_gadded_1" pos="0.13872758053306236 -0.35 0.3060041180280046"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.34699040942263437 0.7592425371872074 0.06941028591471432 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 1.1335622331322368" name="gen_body_gadded_2" pos="-0.08675886962609003 -0.3755101461447621 0.3072212663743636"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8024391410617363 0.6244924320116031 0.23826052320043278 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body><body euler="0 0 0.46556212881153536" name="gen_body_gadded_3" pos="0.058076045291478286 -0.15581205659682834 0.3006136308814792"><geom class="/" mesh="gen_mesh_gadded_3" name="gen_geom_gadded_3" rgba="0.5387642994918613 0.7604083510780186 0.8018954847184578 1" type="mesh"/><joint class="/" name="gen_joint_gadded_3" type="free"/></body><body euler="0 0 3.925046995224991" name="gen_body_gadded_4" pos="-0.3525524146420274 -0.18690861761664698 0.30177343219082164"><geom class="/" mesh="gen_mesh_gadded_4" name="gen_geom_gadded_4" rgba="0.7072322201527482 0.04440219862362016 0.13654935808833457 1" type="mesh"/><joint class="/" name="gen_joint_gadded_4" type="free"/></body><body euler="0 0 3.360806346042852" name="gen_body_gadded_5" pos="0.02323553920167569 -0.8223695532334159 0.30052967314739437"><geom class="/" mesh="gen_mesh_gadded_5" name="gen_geom_gadded_5" rgba="0.4124846903222801 0.9693954073310762 0.44043490984059597 1" type="mesh"/><joint class="/" name="gen_joint_gadded_5" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
118.203216
1,967
0.688179
f7cc43beb313a3acfab3de531238de16aa4ebb80
1,457
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/14_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/14_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/14_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/001/001.stl" name="obj0" scale="0.004488935152086775 0.004488935152086775 0.004488935152086775" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.012842408043410511 0.040818751457941824 0.23054208407940957"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.342105
155
0.61908
f7ce92470432546cd017875005a0e3d7158939ae
3,083
xml
XML
project/experiments/exp_800_mile_stone/input_data/bodies/319.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
project/experiments/exp_800_mile_stone/input_data/bodies/319.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
project/experiments/exp_800_mile_stone/input_data/bodies/319.xml
liusida/thesis-bodies
dceb8a36efd2cefc611f6749a52b56b9d3572f7a
[ "MIT" ]
null
null
null
<!-- converted to geom fromto version --> <mujoco model="walker2d"> <compiler angle="degree" coordinate="global" inertiafromgeom="true"/> <default> <joint armature="0.01" damping=".1" limited="true"/> <geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/> </default> <option integrator="RK4" timestep="0.002"/> <worldbody> <body name="torso" pos="0 0 1.39"> <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/> <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/> <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/> <geom fromto="0 0 0 0 0 -0.32" name="torso_geom" size="0.05" type="capsule"/> <body name="thigh" pos="0 0 -0.32"> <joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/> <geom fromto="0 0 0 0 0 -0.43" name="thigh_geom" size="0.03" type="capsule"/> <body name="leg" pos="0 0 -0.43"> <joint axis="0 -1 0" name="leg_joint" pos="0 0 0" range="-150 0" type="hinge"/> <geom fromto="0 0 0 0 0 -0.47" name="leg_geom" size="0.04" type="capsule"/> <body name="foot" pos="0 0 -0.47"> <joint axis="0 -1 0" name="foot_joint" pos="0 0 0" range="-45 45" type="hinge"/> <geom fromto="0 0 0 0.21 0 0" name="foot_geom" size="0.05" type="capsule"/> </body> </body> </body> <body name="thigh_left" pos="0 0 -0.32"> <joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0" range="-150 0" type="hinge"/> <geom fromto="0 0 0 0 0 -0.43" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.03" type="capsule"/> <body name="leg_left" pos="0 0 -0.43"> <joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0" range="-150 0" type="hinge"/> <geom fromto="0 0 0 0 0 -0.47" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/> <body name="foot_left" pos="0 0 -0.47"> <joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0" range="-45 45" type="hinge"/> <geom fromto="0 0 0 0.21 0 0" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/> </body> </body> </body> </body> </worldbody> <actuator> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/> <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/> </actuator> </mujoco>
60.45098
135
0.567305
f7cfdb0ddbad268cc3758f5b10ff8fec2e37e031
2,718
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5865_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5865_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5865_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/586/586.stl" name="obj0" scale="0.005550006705101851 0.005550006705101851 0.005550006705101851" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.02951680323498791 0.04 0.026590293024397763" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.003956457988034811 -0.00395302186631795 0.024576249169832115" size="0.020493912144414553 0.026610465127334587 0.05248103465801526" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="-0.0015997734065258194 -0.005434641813948792 -0.0013144924637853827" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.003956457988034811 -0.00395302186631795 0.014576249169832113" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.333333
221
0.656733
f7d50b639732f8a88828659340ef9c5874e4b5e6
1,456
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6221_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6221_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6221_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/622/622.stl" name="obj0" scale="0.0035184322202828073 0.0035184322202828073 0.0035184322202828073" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.0227964237318037 0.02056015747064303 0.2095558490451388"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.315789
155
0.618819
f7d8fd489ebddfc0c86eed015ad468ef9a3c17c3
11,230
xml
XML
vendor/mujoco_models/simple_humanoid.xml
wwongkamjan/me-trpo
b9d2d72aca862d2f1110ef7a1fa627e3e0012764
[ "MIT" ]
84
2018-09-20T00:00:13.000Z
2022-03-27T02:12:12.000Z
vendor/mujoco_models/simple_humanoid.xml
jonygao621/me-trpo
7dad9cd91e8f259ffeaf2bdb669c84a6db3ceeaa
[ "MIT" ]
4
2018-10-15T14:11:06.000Z
2020-01-13T14:20:35.000Z
vendor/mujoco_models/simple_humanoid.xml
jonygao621/me-trpo
7dad9cd91e8f259ffeaf2bdb669c84a6db3ceeaa
[ "MIT" ]
23
2019-01-07T01:45:06.000Z
2022-02-07T07:42:28.000Z
<mujoco model="Humanoid"> <compiler coordinate="local" angle="radian" /> <size njmax="200" nuser_geom="1" nstack="82825" /> <default> <joint limited="true" armature="1" damping="1" /> <geom condim="3" conaffinity="0" margin="0.1" friction="1.0 0.5 0.5" rgba="0.8 0.6 0.4 1" /> </default> <option timestep="0.01" integrator="RK4" /> <asset> <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0" /> <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01" /> <texture name="texplane" type="2d" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100" /> <material name='MatPlane' texture="texplane" shininess="1" texrepeat="60 60" specular="1" reflectance="0.5" /> <material name='geom' texture="texgeom" texuniform="true" /> </asset> <worldbody> <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" /> <geom name='floor' material="MatPlane" pos='0 0 0' size='40 40 40' type='plane' conaffinity='1' rgba='0.8 0.9 0.8 1' condim='3' /> <body name="torso" pos='0 0 0.2' euler="1.57 1.57 1.57"> <inertial pos="0 0 0.0403624" mass="8.32208" diaginertia="0.159056 0.147471 0.0330627" /> <joint name="root" type="free" limited="false" pos="0 0 0" axis="0 0 1" margin="0.01" armature="0" damping="0" /> <geom name="torso1" type="capsule" size="0.07 0.07" pos="0 0 0" quat="0.707107 0.707107 0 0" user="0" /> <geom name="head" type="sphere" size="0.09" pos="0 0 0.19" user="0" /> <geom name="uwaist" type="capsule" size="0.06 0.06" pos="0 0 -0.12" quat="0.707107 0.707107 0 0" user="0" /> <body name="pelvis" pos="0 0 -0.425" quat="0.999998 0 -0.002 0"> <inertial pos="-0.0148387 0 0.0387097" quat="0.997805 0 0.0662273 0" mass="7.88854" diaginertia="0.0795697 0.0619562 0.0449816" /> <!-- <joint name="abdomen_z" type="hinge" pos="0 0 0.22" axis="0 0 1" stiffness="20" range="-0.785398 0.785398" margin="0.01" damping="3" /> --> <!-- <joint name="abdomen_x" type="hinge" pos="0 0 0.22" axis="1 0 0" stiffness="10" range="-0.349066 0.349066" margin="0.01" damping="3" /> --> <!-- <joint name="abdomen_y" type="hinge" pos="0 0 0.22" axis="0 1 0" stiffness="10" range="-1.0472 0.523599" margin="0.01" damping="3" /> --> <geom name="lwaist" type="capsule" size="0.06 0.06" pos="0 0 0.15" quat="0.707107 0.707107 0 0" user="0" /> <geom name="butt" type="capsule" size="0.09 0.07" pos="-0.02 0 0" quat="0.707107 0.707107 0 0" user="0" /> <body name="right_thigh" pos="0 -0.1 -0.04"> <inertial pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" mass="5.37761" diaginertia="0.0792387 0.0792387 0.0113602" /> <joint name="right_hip1" type="hinge" pos="0 0 0" axis="1 0 0" stiffness="10" range="-0.15 0.0872665" margin="0.01" /> <!-- <joint name="right_hip2" type="hinge" pos="0 0 0" axis="0 0 1" stiffness="10" range="-0.3 0.3" margin="0.01" /> --> <joint name="right_hip3" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="20" range="-1.91986 0.174533" margin="0.01" /> <geom name="right_thigh1" type="capsule" size="0.065 0.170074" pos="0 0.005 -0.17" quat="0.999892 0.0147011 0 0" user="0" /> <body name="right_shin" pos="0 0.01 -0.403"> <inertial pos="0 0 -0.181" mass="3.10016" diaginertia="0.045501 0.045501 0.00372174" /> <joint name="right_knee" type="hinge" pos="0 0 0.05" axis="0 -1 0" range="-1.3 -0.0349066" margin="0.01" /> <geom name="right_shin1" type="capsule" size="0.049 0.181" pos="0 0 -0.181" user="0" /> <body name="right_foot" pos="0 0 -0.45"> <geom name="right_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" /> </body> <!-- <body name="right_foot" pos="0 0 -0.45"> <inertial pos="0.035 -0.01 0" quat="0 0.707107 0 0.707107" mass="1.08992" diaginertia="0.00577723 0.00529682 0.000877682" /> <joint name="right_ankle_x" type="hinge" pos="0 0 0.06" axis="0.894427 0 0.447214" stiffness="1" range="-0.3 0.3" margin="0.01" damping="0.3" /> <joint name="right_ankle_y" type="hinge" pos="0 0 0.06" axis="0 1 0" stiffness="4" range="-0.4 0.8" margin="0.01" damping="0.3" /> <geom name="right_foot_cap1" type="capsule" size="0.027 0.105475" pos="0.035 -0.03 0" quat="0.707107 -0.0670402 -0.703922 0" user="0" /> <geom name="right_foot_cap2" type="capsule" size="0.027 0.105475" pos="0.035 0.01 0" quat="0.707107 0.0670402 -0.703922 0" user="0" /> </body> --> </body> </body> <body name="left_thigh" pos="0 0.1 -0.04"> <inertial pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" mass="5.37761" diaginertia="0.0792387 0.0792387 0.0113602" /> <joint name="left_hip1" type="hinge" pos="0 0 0" axis="-1 0 0" stiffness="10" range="-0.15 0.0872665" margin="0.01" /> <!-- <joint name="left_hip2" type="hinge" pos="0 0 0" axis="0 0 -1" stiffness="10" range="-0.3 0.3" margin="0.01" /> --> <joint name="left_hip3" type="hinge" pos="0 0 0" axis="0 1 0" stiffness="20" range="-1.91986 0.174533" margin="0.01" /> <geom name="left_thigh1" type="capsule" size="0.065 0.170074" pos="0 -0.005 -0.17" quat="0.999892 -0.0147011 0 0" user="0" /> <body name="left_shin" pos="0 -0.01 -0.403"> <inertial pos="0 0 -0.181" mass="3.10016" diaginertia="0.045501 0.045501 0.00372174" /> <joint name="left_knee" type="hinge" pos="0 0 0.05" axis="0 -1 0" range="-1.3 -0.0349066" margin="0.01" /> <geom name="left_shin1" type="capsule" size="0.049 0.181" pos="0 0 -0.181" user="0" /> <body name="left_foot" pos="0 0 -0.45"> <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" /> </body> <!-- <body name="left_foot" pos="0 0 -0.45"> <inertial pos="0.035 0.01 0" quat="0 0.707107 0 0.707107" mass="1.08992" diaginertia="0.00577723 0.00529682 0.000877682" /> <joint name="left_ankle_x" type="hinge" pos="0 0 0.06" axis="0.894427 0 0.447214" stiffness="1" range="-0.3 0.3" margin="0.01" damping="0.3" /> <joint name="left_ankle_y" type="hinge" pos="0 0 0.06" axis="0 1 0" stiffness="4" range="-0.4 0.8" margin="0.01" damping="0.3" /> <geom name="left_foot_cap1" type="capsule" size="0.027 0.105475" pos="0.035 0.03 0" quat="0.707107 0.0670402 -0.703922 0" user="0" /> <geom name="left_foot_cap2" type="capsule" size="0.027 0.105475" pos="0.035 -0.01 0" quat="0.707107 -0.0670402 -0.703922 0" user="0" /> </body> --> </body> </body> </body> <body name="right_upper_arm" pos="0 -0.17 0.06"> <inertial pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" mass="1.59406" diaginertia="0.0139972 0.0139972 0.00127525" /> <joint name="right_shoulder1" type="hinge" pos="0 0 0" axis="0 -0.707107 0.707107" stiffness="1" range="-1.0472 0.785398" margin="0.01" /> <joint name="right_shoulder2" type="hinge" pos="0 0 0" axis="0.816497 0.408248 0.408248" stiffness="1" range="-0.785398 0.785398" margin="0.01" /> <geom name="right_uarm1" type="capsule" size="0.04 0.2" pos="0.08 -0.08 -0.08" quat="0.888074 -0.325058 -0.325058 0" user="0" /> <!-- <body name="right_lower_arm" pos="0.18 -0.18 -0.18"> <inertial pos="0.095 0.095 0.095" quat="0.459701 0.627963 -0.627963 0" mass="0.877969" diaginertia="0.00639835 0.00639835 0.000421864" /> <joint name="right_elbow" type="hinge" pos="0 0 0" axis="0 -0.707107 0.707107" range="-1.5708 0.872665" margin="0.01" /> <geom name="right_larm" type="capsule" size="0.031 0.129904" pos="0.095 0.095 0.095" quat="0.459701 0.627963 -0.627963 0" user="0" /> </body> --> </body> <body name="left_upper_arm" pos="0 0.17 0.06"> <inertial pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" mass="1.59406" diaginertia="0.0139972 0.0139972 0.00127525" /> <joint name="left_shoulder1" type="hinge" pos="0 0 0" axis="0 0.707107 0.707107" stiffness="1" range="-1.0472 0.785398" margin="0.01" /> <joint name="left_shoulder2" type="hinge" pos="0 0 0" axis="0.816497 -0.408248 0.408248" stiffness="1" range="-0.785398 0.785398" margin="0.01" /> <geom name="left_uarm1" type="capsule" size="0.04 0.2" pos="0.08 0.08 -0.08" quat="0.888074 0.325058 -0.325058 0" user="0" /> <!-- <body name="left_lower_arm" pos="0.18 0.18 -0.18"> <inertial pos="0.095 -0.095 0.095" quat="0.459701 -0.627963 -0.627963 0" mass="0.877969" diaginertia="0.00639835 0.00639835 0.000421864" /> <joint name="left_elbow" type="hinge" pos="0 0 0" axis="0 -0.707107 -0.707107" range="-1.5708 0.872665" margin="0.01" /> <geom name="left_larm" type="capsule" size="0.031 0.129904" pos="0.095 -0.095 0.095" quat="0.459701 -0.627963 -0.627963 0" user="0" /> </body> --> </body> </body> </worldbody> <actuator> <!-- <motor joint='abdomen_y' ctrlrange="-30 30" ctrllimited="true"/> --> <!-- <motor joint='abdomen_z' ctrlrange="-30 30" ctrllimited="true"/> --> <!-- <motor joint='abdomen_x' ctrlrange="-30 30" ctrllimited="true"/> --> <motor joint='right_hip1' ctrlrange="-100.0 100.0" ctrllimited="true" /> <!-- <motor joint='right_hip2' ctrlrange="-100.0 100.0" ctrllimited="true"/> --> <motor joint='right_hip3' ctrlrange="-100.0 100.0" ctrllimited="true" /> <motor joint='right_knee' ctrlrange="-100.0 100.0" ctrllimited="true" /> <!-- <motor joint='right_ankle_x' ctrlrange="-20 20" ctrllimited="true"/> --> <!-- <motor joint='right_ankle_y' ctrlrange="-20 20" ctrllimited="true"/> --> <motor joint='left_hip1' ctrlrange="-100.0 100.0" ctrllimited="true" /> <!-- <motor joint='left_hip2' ctrlrange="-100.0 100.0" ctrllimited="true"/> --> <motor joint='left_hip3' ctrlrange="-100.0 100.0" ctrllimited="true" /> <motor joint='left_knee' ctrlrange="-100.0 100.0" ctrllimited="true" /> <!-- <motor joint='left_ankle_x' ctrlrange="-20 20" ctrllimited="true"/> --> <!-- <motor joint='left_ankle_y' ctrlrange="-20 20" ctrllimited="true"/> --> <motor joint='right_shoulder1' ctrlrange="-20 20" ctrllimited="true" /> <motor joint='right_shoulder2' ctrlrange="-20 20" ctrllimited="true" /> <!-- <motor joint='right_elbow' ctrlrange="-20 20" ctrllimited="true"/> --> <motor joint='left_shoulder1' ctrlrange="-20 20" ctrllimited="true" /> <motor joint='left_shoulder2' ctrlrange="-20 20" ctrllimited="true" /> <!-- <motor joint='left_elbow' ctrlrange="-20 20" ctrllimited="true"/> --> </actuator> </mujoco>
89.84
172
0.58317
f7da0160b44130a3c880683d3017f126fb339129
1,456
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/7667_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7667_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/7667_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/766/766.stl" name="obj0" scale="0.008914110628218626 0.008914110628218626 0.008914110628218626" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.028512295405718396 0.07517650125300591 0.23554408014840583"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.315789
155
0.618819
f7dbaced73014cbe33c3c57b12ae8c6b4dc1cd4c
1,455
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/8070_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8070_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/8070_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/807/807.stl" name="obj0" scale="0.006162177843725281 0.006162177843725281 0.006162177843725281" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.02979688436790788 0.07219461518093642 0.23744802308183466"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.289474
155
0.618557
f7dc316fa8c0b629bf4d74a9de79dde37384119f
4,629
xml
XML
models/tmp/nmi_leg_w_chassis_air_v4.xml
marjanin/tendon_stiffness
b1dc379b09bbf9c044410a6bc51afbee0cba2e05
[ "MIT" ]
1
2020-07-20T02:04:46.000Z
2020-07-20T02:04:46.000Z
models/tmp/nmi_leg_w_chassis_air_v4.xml
marjanin/tendon_stiffness
b1dc379b09bbf9c044410a6bc51afbee0cba2e05
[ "MIT" ]
null
null
null
models/tmp/nmi_leg_w_chassis_air_v4.xml
marjanin/tendon_stiffness
b1dc379b09bbf9c044410a6bc51afbee0cba2e05
[ "MIT" ]
1
2020-05-11T11:41:39.000Z
2020-05-11T11:41:39.000Z
<mujoco model="2-link 6-muscle arm"> <!-- Vers Tendon-driven leg model --> <option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/> <size njmax="50" nconmax="10" nstack="200"/> <visual> <rgba haze=".3 .3 .3 1"/> </visual> <default> <joint type="hinge" pos="0 0 0" axis="0 1 0" limited="true" damping="1" frictionloss="3" /> <tendon stiffness = "4000" damping='000'/> <muscle ctrllimited="true" ctrlrange="0 1" force="6000" /> </default> <asset> <texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/> <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/> <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/> </asset> <worldbody> <geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/> <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 1 -5"/> <body name="Chassis" pos="0 0 .10"> <camera name="Chassis_camera" pos="0 -6 3" zaxis="0 -2 1"/> <geom name="Chassis_frame" type="box" pos="0 0 1.7" zaxis="0 1 0" size=".50 .30 .25" rgba=".25 .25 .25 0.25" mass=".1"/> <!--<joint armature="0" axis="1 0 0" damping="0" frictionloss="3" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>--> <!--<joint armature="0" axis="0 0 1" damping="0" frictionloss="3" limited="false" name="rootz" pos="0 0 0" stiffness="0" springdamper=".01 10" type="slide"/>--> <!-- to enable z axis slide with a spring damper--> <site name="S_M0" pos="0.40 0 1.8" size="0.02"/> <site name="S_M2" pos="0.40 0 1.5" size="0.02"/> <site name="S_M1" pos="-0.40 0 1.5" size="0.02"/> <body pos="0 0 .5"> <joint name="Hip" range="-60 60"/> <geom name="Hip" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".1 .05" rgba="1 1 1 .5" mass="0.3"/> <geom name="L0" type="capsule" size="0.045" fromto="0 0 0 0 0 -.50" rgba=".7 .7 .7 1"/> <site name="S_J0_0" pos="-0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/> <site name="S_J0_1" pos="0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/> <site name="S_L0_1" pos="0.05 0 -.1" size="0.02"/> <site name="S_L0_0" pos="-0.05 0 -.1" size="0.02"/> <site name="S_L0_2" pos="-0.1 0 -.25" size="0.02"/> <site name="S_L0_3" pos=" 0.00 0 -.25" size="0.02"/> <site name="S_L_04" pos="+0.1 0 -.25" size="0.02"/> <body pos="0 0 -.5"> <joint name="Knee" range="-90 0" ref="-45"/> <geom name="Knee" type="cylinder" pos="0 0 0" zaxis="0 1 0" size=".1 .05" rgba="1 1 1 .5" mass="0.3"/> <geom name="L1" type="capsule" size="0.045" fromto="0 0 0 0.34 0 -0.34" rgba=".7 .7 .7 1"/> <site name="S_J1_0" pos="-0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/> <site name="S_J1_1" pos="0.15 0 0" size="0.02" rgba="0.7 0.8 0.95 .1" group="1"/> <site name="S_L1_0" pos="-0.05 0 -.1" size="0.02"/> <site name="S_L1_1" pos="0.05 0 -.1" size="0.02"/> </body> </body> </body>> </worldbody> <tendon> <spatial name="T_M0" width="0.01" rgba="0.55 0.78 0.55 1"> <site site="S_M0"/> <geom geom="Hip" sidesite="S_J0_0"/> <site site="S_L0_3"/> <geom geom="Knee" sidesite="S_J1_1"/> <site site="S_L1_1"/> </spatial> <spatial name="T_M1" width="0.01" rgba="0.95 0.50 0.47 1"> <site site="S_M1"/> <geom geom="Hip" sidesite="S_J0_1"/> <site site="S_L0_1"/> </spatial> <spatial name="T_M2" width="0.01" rgba="0.45 0.49 0.83 1"> <site site="S_M2"/> <geom geom="Hip" sidesite="S_J0_0"/> <site site="S_L0_2"/> <geom geom="Knee" sidesite="S_J1_0"/> <site site="S_L1_0"/> </spatial> </tendon> <actuator> <muscle name="T_M0" tendon="T_M0"/> <muscle name="T_M1" tendon="T_M1"/> <muscle name="T_M2" tendon="T_M2"/> </actuator> </mujoco>
44.085714
224
0.490171
f7dcab537a39e7fd788cf74e5c75e1ba005916fe
2,722
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/4106_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/4106_peg.xml
Jekyll1021/gym
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gym/envs/robotics/assets/fetch/random_obj_xml/4106_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
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null
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herb_reconf/cluttered_scenes/grasping_021_bleach_cleanser_2_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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herb_reconf/cluttered_scenes/grasping_021_bleach_cleanser_2_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
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herb_reconf/cluttered_scenes/grasping_021_bleach_cleanser_2_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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name="herb/wam/bhand/finger11" pos="-0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j11" class="herb/wam/bhand/" axis="0 0 -1" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_5" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_6" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_7" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_8" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger12" pos="0.05 0 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class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_12" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger21" pos="0.025000000 0 0.041500000" quat="0.70710700 0 0 -0.70710700"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.14109" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j21" class="herb/wam/bhand/" range="0 3.141589" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_13" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_prox_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_14" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p1"/> <geom name="herb/wam/bhand//unnamed_geom_15" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p2"/> <geom name="herb/wam/bhand//unnamed_geom_16" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_prox_link_convex_decomposition_p3"/> <body name="herb/wam/bhand/finger22" pos="0.05 0 0.0339" quat="0.70710700 0.70710700 0 0"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j22" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_17" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_18" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger23" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j23" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_19" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_20" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> <body name="herb/wam/bhand/finger32" pos="0 0.05 0.07539995" quat="0.5 0.5 0.5 0.5"> <inertial pos="0.023133000 0.00078642000 0.0005279197" quat="0.01607959 0.70726900 -0.0007660079 0.706762" mass="0.062139" diaginertia="7.7733500e-05 7.662819e-05 4.8312200e-06"/> <joint name="herb/wam/bhand/j32" class="herb/wam/bhand/" range="0 2.44346" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_21" class="herb/wam/bhand/viz" mesh="herb/wam/bhand/bhand_finger_med_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_22" class="herb/wam/bhand/col" mesh="herb/wam/bhand/bhand_finger_med_link_convex"/> <body name="herb/wam/bhand/finger33" pos="0.069940000 0.003 0" quat="0.92388000 0 0 0.382683"> <inertial pos="0.022825000 0.0010491000 0.00042030000" quat="0.5084118 0.51165000 0.4895829 0.48993900" mass="0.041377" diaginertia="3.843398e-05 3.727529e-05 3.0998700e-06"/> <joint name="herb/wam/bhand/j33" class="herb/wam/bhand/" range="0 0.837758" damping="0.11" armature=".01"/> <geom name="herb/wam/bhand//unnamed_geom_23" class="herb/wam/bhand/viz" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998" euler="0 0 0.5"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body> <body name="box_0" pos="0.175 0.0 0.3725"> <geom name="box_geom_0" class="/" type="box" group="1" size="0.055 0.055 0.065" rgba="0 0 0 1"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="target_obj" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_15" class="geom0" type="box" contype="0" conaffinity="0" group="1" size="0.055 0.055 0.055" rgba="0 0 0 0.1666"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 0.2674734152551936" name="gen_body_0" pos="0 0 0.300452000007499"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.7689205720402659 0.3299123441928924 0.3195278337813313 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 4.953241490720041" name="gen_body_gadded_1" pos="0.13414601699376993 0.0 0.3008304689353475"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.4510024887856282 0.47375008984262335 0.4661616972052365 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.97287794476589" name="gen_body_gadded_2" pos="-0.1897090345365581 -0.22959826515708884 0.3036947915243337"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.8222494472171187 0.6128270715331787 0.9044077859636862 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <!--<pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="box_geom_0" geom2="table_plane"/>--> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <!--<pair geom1="//unnamed_geom_8" geom2="tabletop" friction="1 1 0.005 0.0001 0.0001" />--> <!-- <pair geom1="//unnamed_geom_9" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="10000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="10000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="10000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-10000 10000" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="10000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
119.761381
937
0.683201
f7e021f9bba2c53214e9f0d3b3a57ea488e0876a
7,785
xml
XML
metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_150.xml
WorldEditors/RLSchool
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
[ "Apache-2.0" ]
null
null
null
metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_150.xml
WorldEditors/RLSchool
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
[ "Apache-2.0" ]
null
null
null
metagym/metalocomotion/envs/assets/humanoids/humanoid_var_tra_150.xml
WorldEditors/RLSchool
a368937ab23c8d56f8b46d6c2de74d607d7a12bb
[ "Apache-2.0" ]
null
null
null
<mujoco model="humanoid"> <compiler angle="degree" inertiafromgeom="true" /> <default> <joint armature="1" damping="1" limited="true" /> <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" /> <motor ctrllimited="true" ctrlrange="-.4 .4" /> </default> <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003"> </option> <size nkey="5" nuser_geom="1" /> <visual> <map fogend="5" fogstart="3" /> </visual> <worldbody> <body name="torso" pos="0.0 0.0 1.0317505998348853"> <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" /> <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" /> <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" /> <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0"> <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" /> <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" /> <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" /> <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0"> <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" /> <geom fromto="-0.02 -0.09696977548918377 0.0 -0.02 0.09696977548918377 0.0" name="butt" size="0.09" type="capsule" /> <body name="right_thigh" pos="0.0 -0.13852825069883395 -0.04"> <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" /> <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" /> <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.0 0.007087188378010502 -0.24096440485235707" name="right_thigh1" size="0.06" type="capsule" /> <body name="right_shin" pos="0.0 0.007087188378010502 -0.2856136916338232"> <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.0 0.0 -0.2660912721340415" name="right_shin1" size="0.049" type="capsule" /> <body name="right_foot" pos="0.0 0.0 -0.39913690820106223"> <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" /> </body> </body> </body> <body name="left_thigh" pos="0.0 0.13852825069883395 -0.04"> <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" /> <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" /> <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.0 -0.007087188378010502 -0.24096440485235707" name="left_thigh1" size="0.06" type="capsule" /> <body name="left_shin" pos="0.0 -0.007087188378010502 -0.2856136916338232"> <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" /> <geom fromto="0.0 0.0 0.0 0.0 0.0 -0.2660912721340415" name="left_shin1" size="0.049" type="capsule" /> <body name="left_foot" pos="0.0 0.0 -0.39913690820106223"> <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" /> </body> </body> </body> </body> </body> <body name="right_upper_arm" pos="0 -0.17 0.06"> <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" /> <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" /> <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" /> <body name="right_lower_arm" pos=".18 -.18 -.18"> <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" /> <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" /> <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" /> </body> </body> <body name="left_upper_arm" pos="0 0.17 0.06"> <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" /> <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" /> <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" /> <body name="left_lower_arm" pos=".18 .18 -.18"> <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" /> <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" /> <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" /> </body> </body> </body> </worldbody> <tendon> <fixed name="left_hipknee"> <joint coef="-1" joint="left_hip_y" /> <joint coef="1" joint="left_knee" /> </fixed> <fixed name="right_hipknee"> <joint coef="-1" joint="right_hip_y" /> <joint coef="1" joint="right_knee" /> </fixed> </tendon> <actuator> <motor gear="100" joint="abdomen_y" name="abdomen_y" /> <motor gear="100" joint="abdomen_z" name="abdomen_z" /> <motor gear="100" joint="abdomen_x" name="abdomen_x" /> <motor gear="100" joint="right_hip_x" name="right_hip_x" /> <motor gear="100" joint="right_hip_z" name="right_hip_z" /> <motor gear="300" joint="right_hip_y" name="right_hip_y" /> <motor gear="200" joint="right_knee" name="right_knee" /> <motor gear="100" joint="left_hip_x" name="left_hip_x" /> <motor gear="100" joint="left_hip_z" name="left_hip_z" /> <motor gear="300" joint="left_hip_y" name="left_hip_y" /> <motor gear="200" joint="left_knee" name="left_knee" /> <motor gear="25" joint="right_shoulder1" name="right_shoulder1" /> <motor gear="25" joint="right_shoulder2" name="right_shoulder2" /> <motor gear="25" joint="right_elbow" name="right_elbow" /> <motor gear="25" joint="left_shoulder1" name="left_shoulder1" /> <motor gear="25" joint="left_shoulder2" name="left_shoulder2" /> <motor gear="25" joint="left_elbow" name="left_elbow" /> </actuator> </mujoco>
72.757009
149
0.533976
f7e0bfd011794729689ce1cb58c6719e5b740b45
2,724
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2703_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2703_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
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null
gym/envs/robotics/assets/fetch/random_obj_xml/2703_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
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herb_reconf/cluttered_scenes/easy_pushing_024_bowl_3_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_024_bowl_3_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/easy_pushing_024_bowl_3_0.8_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
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null
null
null
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mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 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</body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 1.505151299259657" name="gen_body_0" pos="-0.05 -0.35 0.30053000001935287"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.9371328663267083 0.5869673590042137 0.9374348478204073 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 2.186006201071935" name="gen_body_gadded_1" pos="0.05590863351087173 -0.12825278196895387 0.5159870333693952"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.67297355598898 0.8891484938836696 0.45950608292105355 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 2.101824393525212" name="gen_body_gadded_2" pos="-0.33233589478277814 -0.31622667666303533 0.29875672907667056"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.694610795805539 0.0713773855607367 0.08954831156760235 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" 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body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> <pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_0" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_0" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_1" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_1" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_16" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_15" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_14" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_12" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_10" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_8" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_7" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_6" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_4" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_3" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_2" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1/bhand//unnamed_geom_1" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_24" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_22" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_21" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_20" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_18" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="4 4 0.2 0.04 0.04" geom1="gen_geom_gadded_2" geom2="herb/wam_1//unnamed_geom_17" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="table_plane" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_0" solimp="0.999 0.999 0.01" solref="0.01 1"/><pair condim="4" friction="0.5 0.5 0.005 0.0001 0.0001" geom1="gen_geom_gadded_2" geom2="gen_geom_gadded_1" solimp="0.999 0.999 0.01" solref="0.01 1"/></contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
131.922515
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f7e713192282a3dfa9f2a2664596268ae0b8df48
2,721
xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/6088_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6088_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/6088_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/608/608.stl" name="obj0" scale="0.006654878658269984 0.006654878658269984 0.006654878658269984" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.009509162769680638 0.04 0.00947526614523474" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.0009209138952226719 -0.004918469942878612 0.033368588681892325" size="0.009980777900336232 0.009812704794886277 0.04382646908685031" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="0.0008562227094510773 -0.0048726661305738515 -0.0009826142597232496" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0009209138952226719 -0.004918469942878612 0.02336858868189232" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
50.388889
223
0.657479
f7e82c844816bd795b4d24c3168b97d916116fd4
79,281
xml
XML
herb_reconf/cluttered_scenes/hard_pushing_061_foam_brick_1_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_061_foam_brick_1_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
herb_reconf/cluttered_scenes/hard_pushing_061_foam_brick_1_0.5_scene.xml
wagnew3/Amodal-3D-Reconstruction-for-Robotic-Manipulationvia-Stability-and-Connectivity--Release
f55c6b0fac44d9d749e7804d99169a39d30c2111
[ "MIT" ]
null
null
null
<?xml version="1.0" ?><mujoco model="scene"> <compiler angle="radian" coordinate="local" fusestatic="false" meshdir="assets/" texturedir="assets/"/> <option apirate="50" collision="predefined" cone="elliptic" impratio="5" iterations="500" noslip_iterations="100" solver="Newton" timestep="0.002" tolerance="1e-10"/> <size nconmax="10000" njmax="10000"/> <visual> <global offheight="800" offwidth="800"/> <quality shadowsize="2048"/> <headlight ambient="0 0 0" diffuse="1.399999 1.399999 1.399999" specular="2 2 2"/> <map force="0.1" zfar="30.0"/> <rgba haze="0.1499999 0.25 0.3499998 1"/> </visual> <statistic center="0.2 0 0.5" extent="10.0"/> <default> <default class="/"/> <default class="geom0"> <geom conaffinity="0" contype="1" density="500" margin="0.001" rgba="0.75 0.6 0.5 1" solimp="0.95 0.95 0.01" solref="0.008 1" user="0"/> </default> <default class="herb/"> <joint damping="1.0"/> <default class="herb/viz"> <geom conaffinity="0" contype="0" group="1"/> </default> </default> <default class="herb/wam/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> </default> <default class="herb/wam/bhand/"> <joint axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam/bhand/col"> <geom conaffinity="1" contype="0" group="0" type="mesh"/> </default> <default class="herb/wam/bhand/viz"> <geom conaffinity="0" contype="0" group="1" rgba="0.6999996 0.8 0.8 1" type="mesh"/> </default> </default> <default class="herb/wam_1/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/viz"> <geom conaffinity="0" contype="0" group="1" type="mesh"/> </default> <default class="herb/wam_1/col"> <geom conaffinity="1" condim="4" contype="1" group="0" priority="10" type="mesh"/><!-- friction="1 0.1 0.02" --> </default> </default> <default class="herb/wam_1/bhand/"> <joint armature="0.1" axis="0 0 1" frictionloss="0.001" limited="true" pos="0 0 0" type="hinge"/> <default class="herb/wam_1/bhand/col"> <geom conaffinity="1" condim="4" contype="4" friction="1 0.1 0.02" group="0" priority="10" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/> <!-- --> </default> <default class="herb/wam_1/bhand/viz"> <geom conaffinity="0" condim="4" contype="4" friction="1 0.1 0.02" group="1" priority="10" rgba="0.6999996 0.8 0.8 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh"/><!-- --> </default> </default> </default> <asset> <texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concrete_2d" type="2d"/> <texture file="concrete-7baa937dd9eb091794feb091c728eb4f234150ae.png" name="concretecube" type="cube"/> <material class="/" name="concrete_2d" reflectance="0.3" rgba="0.8 0.8 0.8 1" texture="concrete_2d"/> <material 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mesh="herb/wam/bhand/bhand_finger_dist_link_fine"/> <geom name="herb/wam/bhand//unnamed_geom_24" class="herb/wam/bhand/col" euler="0 0 -0.8399997" mesh="herb/wam/bhand/bhand_finger_dist_link_convex"/> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body> </body>--> </body> <light castshadow="true" class="herb/" diffuse="0.8 0.8 0.8" mode="targetbodycom" name="herb//unnamed_light_0" pos="1 1 4.5" specular="0.4 0.4 0.4" target="herb/herb"/> </body> <!--<body name="box_3" pos="0.28870895581142419 -0.54183395581142413 0.3549998"> <geom name="//unnamed_geom_10" class="/" type="box" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 1"/> <joint name="//unnamed_joint_2" class="/" type="free"/> </body> <body name="box_4" pos="0.22177971291830414 0.18129056149692808 0.3549998"> <geom name="//unnamed_geom_11" class="/" type="box" group="1" size="0.062757255018445174 0.065252737323892959 0.055" rgba="0 0.83921575546264648 1 1"/> <joint name="//unnamed_joint_3" class="/" type="free"/> </body> <body name="box_5" pos="0.0476221671824321 0.15210565296867215 0.3549998"> <geom name="//unnamed_geom_12" class="/" type="box" group="1" size="0.055 0.067596402584312182 0.055" rgba="0.84313732385635376 0.26666668057441711 0 1"/> <joint name="//unnamed_joint_4" class="/" type="free"/> </body> --> <!--<body name="box_6" pos="-0.096236318603808046 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_13" class="/" type="box" group="1" size="0.057212627535643504 0.06839772732407734 0.055" rgba="0 0.50196081399917603 0.16078431904315948 1"/> <joint name="//unnamed_joint_5" class="/" type="free"/> </body>--> <!-- <body name="box_7" pos="-0.19039386433968011 0.04115471291830413 0.3549998"> <geom name="//unnamed_geom_14" class="/" type="box" group="1" size="0.055007578371876191 0.077499983147774329 0.055" rgba="0 0.37254902720451355 0.83529418706893921 1"/> <joint name="//unnamed_joint_6" class="/" type="free"/> </body>--> <!--<body name="box_2" pos="0.13900801576105609 -0.42142641007555215 0.3549998"> <geom name="//unnamed_geom_9" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0.5 0.0"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!--<body name="push_obj" pos="-0.053464621446560029 -0.5 0.325"> <geom name="//unnamed_geom_8" class="/" type="cylinder" group="1" size="0.055 0.025" rgba="0.5 0.3 0 1" mass="0.05"/> <joint name="//unnamed_joint_0" class="/" type="free" damping="0.001"/> </body> <body name="target_obj" pos="0 0.0 0.325"> <geom name="//unnamed_geom_15" class="geom0" type="cylinder" contype="0" conaffinity="0" group="1" size="0.055 0.025" rgba="0.5 0.3 0 0.1666"/> </body>--> <!--<body name="gen_body_0" pos="0 0.0 0.3549998"> <geom name="gen_geom_0_0" class="/" type="box" group="1" size="0.055 0.055 0.055" rgba="0 0 0 1"/> <joint name="//unnamed_joint_0" class="/" type="free"/> </body>--> <!--<body name="gen_body_1" pos="-0.053464621446560029 -0.35 0.3549998"> <geom name="gen_geom_1_0" class="geom0" type="mesh" contype="0" conaffinity="0" group="1" mesh="mustard" material="mustard_mat"/> </body>--> <!--<body name="box_2" pos="-0.053464621446560029 -0.5 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" group="1" contype="0" conaffinity="0" size="0.055 0.055 0.055" rgba="0 0.5 0.5 .25" mass="0.05"/> <joint name="//unnamed_joint_1" class="/" type="free"/> </body>--> <!-- <body name="virt_box_2" pos="0 .45 0.3549998"> <geom name="//unnamed_geom_16" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.076178097189418481 0.067434992230686885 0.055" rgba="1 1 0.38431376218795776 0.2999999"/> </body> <body name="virt_box_3" pos="0 0.57243499223068691 0.3549998"> <geom name="//unnamed_geom_17" class="/" type="box" contype="0" conaffinity="0" group="1" size="0.060027579686085103 0.055 0.055" rgba="1 0.62352943420410156 1 0.2999999"/> </body> --> <body euler="0 0 4.319889483590435" name="gen_body_0" pos="0 0 0.3003459999861661"><geom class="/" mesh="gen_mesh_0" name="gen_geom_0" rgba="0.0908953599497494 0.410178602399218 0.45205639652820495 1" type="mesh"/><joint class="/" name="gen_joint_0" type="free"/></body><body euler="0 0 0.05319994094332593" name="gen_body_gadded_1" pos="0.24782783824518506 0.0 0.2965286551202149"><geom class="/" mesh="gen_mesh_gadded_1" name="gen_geom_gadded_1" rgba="0.03418998420702157 0.2304001565973115 0.6210198469436652 1" type="mesh"/><joint class="/" name="gen_joint_gadded_1" type="free"/></body><body euler="0 0 5.473479344479328" name="gen_body_gadded_2" pos="0.454849406918317 0.0853914048818327 0.3009541070633493"><geom class="/" mesh="gen_mesh_gadded_2" name="gen_geom_gadded_2" rgba="0.2052608624831752 0.38118009341539694 0.37861333893985105 1" type="mesh"/><joint class="/" name="gen_joint_gadded_2" type="free"/></body></worldbody> <contact> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_16" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_15" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_14" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_12" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_10" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_8" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_7" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_6" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_4" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_3" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_2" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1/bhand//unnamed_geom_1" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_24" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_22" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_21" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_20" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_18" geom2="table_plane"/> <pair friction="0.5 0.5 0.005 0.0001 0.0001" geom1="herb/wam_1//unnamed_geom_17" geom2="table_plane"/> <!--<pair geom1="//unnamed_geom_10" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_11" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_12" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> <pair geom1="//unnamed_geom_14" geom2="tabletop" friction="2 2 0.005 0.0001 0.0001" /> --> <!--<exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger21" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger22" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger33"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger11" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger12" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger13" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger22"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger23"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger32" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger12"/> <exclude body1="herb/wam_1/bhand/finger33" body2="herb/wam_1/bhand/finger13"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger11"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger21"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/bhand/finger32"/> <exclude body1="herb/wam_1/bhand/bhand_palm_link" body2="herb/wam_1/8_wrist_palm_link"/> <exclude body1="herb/wam_1/8_wrist_palm_link" body2="herb/wam_1/7_wrist_pitch_link"/> <exclude body1="herb/wam_1/7_wrist_pitch_link" body2="herb/wam_1/6_wrist_yaw_link"/> <exclude body1="herb/wam_1/6_wrist_yaw_link" body2="herb/wam_1/5_forearm_link"/> <exclude body1="herb/wam_1/5_forearm_link" body2="herb/wam_1/4_upper_arm_link"/> <exclude body1="herb/wam_1/4_upper_arm_link" body2="herb/wam_1/3_shoulder_pitch_link"/> <exclude body1="herb/wam_1/3_shoulder_pitch_link" body2="herb/wam_1/2_shoulder_yaw_link"/> <exclude body1="herb/wam_1/2_shoulder_yaw_link" body2="herb/wam_1/1_base_link"/>--> </contact> <actuator> <!--<velocity name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" gear="1.358" ctrlrange="-.1 .1" /> <velocity name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" gear="1.358" ctrlrange="-.1 .1" />--> <position ctrllimited="true" ctrlrange="-2.6 2.6" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kp="5000" name="herb/wam_1/p_j1_base_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.985 1.985" forcelimited="false" forcerange="-5000 5000" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kp="5000" name="herb/wam_1/p_j2_shoulder_pitch_joint"/> <position ctrllimited="true" ctrlrange="-2.8 2.8" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kp="5000" name="herb/wam_1/p_j3_shoulder_yaw_joint"/> <position ctrllimited="true" ctrlrange="-0.9 3.1415" forcelimited="false" forcerange="-2500 2500" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kp="5000" name="herb/wam_1/p_j4_elbow_pitch_joint"/> <position ctrllimited="true" ctrlrange="-4.549998 1.25" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kp="1000" name="herb/wam_1/p_j5_wrist_yaw_joint"/> <position ctrllimited="true" ctrlrange="-1.5707 1.5707" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kp="500" name="herb/wam_1/p_j6_wrist_pitch_joint"/> <position ctrllimited="true" ctrlrange="-3 3" forcelimited="false" forcerange="-1000 1000" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kp="500" name="herb/wam_1/p_j7_palm_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-2 2" gear="1" joint="herb/wam_1/j1_base_yaw_joint" kv="2" name="herb/wam_1/j1_base_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j2_shoulder_pitch_joint" kv="20" name="herb/wam_1/j2_shoulder_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j3_shoulder_yaw_joint" kv="20" name="herb/wam_1/j3_shoulder_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j4_elbow_pitch_joint" kv="10" name="herb/wam_1/j4_elbow_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j5_wrist_yaw_joint" kv="10" name="herb/wam_1/j5_wrist_yaw_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j6_wrist_pitch_joint" kv="10" name="herb/wam_1/j6_wrist_pitch_joint"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-100 100" gear="1" joint="herb/wam_1/j7_palm_yaw_joint" kv="10" name="herb/wam_1/j7_palm_yaw_joint"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j11" kp="40" name="herb/wam_1/bhand/p_j11"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j12" kp="40" name="herb/wam_1/bhand/p_j12"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j13" kp="40" name="herb/wam_1/bhand/p_j13"/> <position ctrllimited="true" ctrlrange="0 3.141589" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j21" kp="40" name="herb/wam_1/bhand/p_j21"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j22" kp="40" name="herb/wam_1/bhand/p_j22"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j23" kp="40" name="herb/wam_1/bhand/p_j23"/> <position ctrllimited="true" ctrlrange="0 2.44346" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j32" kp="40" name="herb/wam_1/bhand/p_j32"/> <position ctrllimited="true" ctrlrange="0 0.837758" forcelimited="false" forcerange="-40 40" gear="1" joint="herb/wam_1/bhand/j33" kp="40" name="herb/wam_1/bhand/p_j33"/> <!--<motor name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" gear="-35.87" ctrlrange="-1 1" /> <motor name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" gear="56.42" ctrlrange="-1 1" /> <motor name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" gear="33.56" ctrlrange="-1 1" /> <motor name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" gear="17.77" ctrlrange="-1 1" /> <motor name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" gear="3.37" ctrlrange="-1 1" /> <motor name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" gear="1.358" ctrlrange="-1 1" /> <motor name="herb/wam_1/bhand/p_j11" joint="herb/wam_1/bhand/j11" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j12" joint="herb/wam_1/bhand/j12" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j13" joint="herb/wam_1/bhand/j13" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j21" joint="herb/wam_1/bhand/j21" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j22" joint="herb/wam_1/bhand/j22" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j23" joint="herb/wam_1/bhand/j23" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j32" joint="herb/wam_1/bhand/j32" ctrlrange="-1 1" gear="2"/> <motor name="herb/wam_1/bhand/p_j33" joint="herb/wam_1/bhand/j33" ctrlrange="-1 1" gear="2"/>--> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j11" kv="1" name="herb/wam_1/bhand/v_j11"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j12" kv="1" name="herb/wam_1/bhand/v_j12"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j13" kv="1" name="herb/wam_1/bhand/v_j13"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j21" kv="1" name="herb/wam_1/bhand/v_j21"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j22" kv="1" name="herb/wam_1/bhand/v_j22"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j23" kv="1" name="herb/wam_1/bhand/v_j23"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j32" kv="1" name="herb/wam_1/bhand/v_j32"/> <velocity ctrllimited="true" ctrlrange="-1 1" forcelimited="false" forcerange="-1 1" gear="1" joint="herb/wam_1/bhand/j33" kv="1" name="herb/wam_1/bhand/v_j33"/> <!-- <position name="herb/wam_1/j1_base_yaw_joint" joint="herb/wam_1/j1_base_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="-35.87"/> <position name="herb/wam_1/j2_shoulder_pitch_joint" joint="herb/wam_1/j2_shoulder_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="56.42"/> <position name="herb/wam_1/j3_shoulder_yaw_joint" joint="herb/wam_1/j3_shoulder_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="33.56"/> <position name="herb/wam_1/j4_elbow_pitch_joint" joint="herb/wam_1/j4_elbow_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="17.77"/> <position name="herb/wam_1/j5_wrist_yaw_joint" joint="herb/wam_1/j5_wrist_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j6_wrist_pitch_joint" joint="herb/wam_1/j6_wrist_pitch_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="3.37"/> <position name="herb/wam_1/j7_palm_yaw_joint" joint="herb/wam_1/j7_palm_yaw_joint" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j11" joint="herb/wam_1/bhand/j11" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j12" joint="herb/wam_1/bhand/j12" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j13" joint="herb/wam_1/bhand/j13" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j21" joint="herb/wam_1/bhand/j21" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j22" joint="herb/wam_1/bhand/j22" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j23" joint="herb/wam_1/bhand/j23" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j32" joint="herb/wam_1/bhand/j32" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/> <position name="herb/wam_1/bhand/j33" joint="herb/wam_1/bhand/j33" ctrllimited="true" ctrlrange="-0.1 0.1" forcelimited="true" forcerange="-50 50" gear="1.358"/>--> </actuator> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/2147_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2147_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/2147_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/214/214.stl" name="obj0" scale="0.0065406565576459135 0.0065406565576459135 0.0065406565576459135" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.00969771374620356 0.04 0.01006701556708964" zaxis="1.0 0.0 0.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="1.0 0.0 0.0" /> <geom condim="3" mass="2" material="block_mat" pos="0.0003560018076406747 -0.013457151327328132 0.03352916348870188" size="0.010022438227440821 0.01004778641787855 0.042993931345542045" type="box" zaxis="1.0 0.0 0.0" /> <site name="object0" pos="0.00035548296873977645 -0.013470007436219268 0.00023294588936339567" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="0.0003560018076406747 -0.013457151327328132 0.023529163488701876" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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f7e9fece13dd7ec265c60ccc5a879237974a3d72
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xml
XML
envs/mujoco/envs/assets/single_peg_hole/hole_lineup.xml
hzm2016/assistive-gym-robosuite
5c529f4444cc386383618bfa584341740a8468f9
[ "MIT" ]
1
2021-11-22T07:45:28.000Z
2021-11-22T07:45:28.000Z
envs/mujoco/envs/assets/single_peg_hole/hole_lineup.xml
hzm2016/assistive-gym-robosuite
5c529f4444cc386383618bfa584341740a8468f9
[ "MIT" ]
null
null
null
envs/mujoco/envs/assets/single_peg_hole/hole_lineup.xml
hzm2016/assistive-gym-robosuite
5c529f4444cc386383618bfa584341740a8468f9
[ "MIT" ]
null
null
null
<?xml version="1.0" ?> <mujoco> <compiler angle="radian" coordinate="local" meshdir="meshes/"/> <default> <joint damping="0.5"/> <default class="visual"> <geom contype="0" conaffinity="0"/> </default> <default class="collision"> <geom contype="1" conaffinity="1"/> </default> <site rgba="1 0 0 .5"/> </default> <asset> <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/> </asset> <worldbody> <light pos="0 0 1000" castshadow="false"/> <geom type="plane" size="10 10 1" rgba=".8 .8 .8 1"/> <body pos="0 0 0"> <include file="hole/polyhedral_hole_inner=0-006856_outer=0-05_height=0-05_num_facets=16_id=090.xml"/> </body> <body pos="0 .15 0"> <include file="hole/polyhedral_hole_inner=0-006967_outer=0-05_height=0-05_num_facets=16_id=080.xml"/> </body> <body pos="0 .3 0"> <include file="hole/polyhedral_hole_inner=0-007172_outer=0-05_height=0-05_num_facets=16_id=070.xml"/> </body> <body pos="0 .45 0"> <include file="hole/polyhedral_hole_inner=0-007553_outer=0-05_height=0-05_num_facets=16_id=060.xml"/> </body> <body pos="0 .6 0"> <include file="hole/polyhedral_hole_inner=0-008257_outer=0-05_height=0-05_num_facets=16_id=050.xml"/> </body> <body pos="0 .75 0"> <include file="hole/polyhedral_hole_inner=0-009560_outer=0-05_height=0-05_num_facets=16_id=040.xml"/> </body> <body pos="0 .9 0"> <include file="hole/polyhedral_hole_inner=0-011973_outer=0-05_height=0-05_num_facets=16_id=030.xml"/> </body> <body pos="0 1.05 0"> <include file="hole/polyhedral_hole_inner=0-016438_outer=0-05_height=0-05_num_facets=16_id=020.xml"/> </body> <body pos="0 1.2 0"> <include file="hole/polyhedral_hole_inner=0-024703_outer=0-05_height=0-05_num_facets=16_id=010.xml"/> </body> <body pos="0 1.35 0"> <include file="hole/polyhedral_hole_inner=0-040000_outer=0-05_height=0-05_num_facets=16_id=000.xml"/> </body> </worldbody> </mujoco>
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/1030_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1030_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/1030_slide.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/103/103.stl" name="obj0" scale="0.007130417859255248 0.007130417859255248 0.007130417859255248" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table" pos="1.3 0.75 0.2"> <joint damping="0.01" name="table:joint" type="free" /> <geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" /> <body name="switch" pos="0.03391762228243026 0.05400167418010339 0.21774572049095361"> <joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" /> <geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" /> <site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" /> </body> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> </mujoco>
38.289474
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0.618557
f7edbfcfd6c259adb81f6dcae86d6a29d7e88262
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xml
XML
gym/envs/robotics/assets/fetch/random_obj_xml/5380_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5380_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
gym/envs/robotics/assets/fetch/random_obj_xml/5380_peg.xml
Jekyll1021/gym
1701741df2e6ae9a762fe647122ee8344f586bc9
[ "Python-2.0", "OLDAP-2.7" ]
null
null
null
<mujoco> <compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" /> <option timestep="0.002"> <flag warmstart="enable" /> </option> <include file="../shared.xml" /> <asset> <mesh file="../../stls/fetch/random_urdfs/538/538.stl" name="obj0" scale="0.005656456526949834 0.005656456526949834 0.005656456526949834" /> </asset> <worldbody> <geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" /> <body name="floor0" pos="0.8 0.75 0"> <site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <include file="../robot.xml" /> <body name="table0" pos="1.3 0.75 0.17"> <geom mass="2000" material="table_mat" size="0.25 0.35 0.17" type="box" /> </body> <body name="table_top" pos="1.3 0.75 0.36"> <joint damping="0.01" name="table_top:joint" type="free" /> <geom mass="2000" material="table_mat" pos="0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="-0.145 0 0" size="0.105 0.35 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 -0.195 0" size="0.04 0.155 0.03" type="box" /> <geom mass="2000" material="table_mat" pos="0 0.195 0" size="0.04 0.155 0.03" type="box" /> <site name="table_top" pos="0 0 0" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <body name="object0" pos="0.014229984451815125 0.04 0.00779930043773903" zaxis="0.0 0.0 1.0"> <joint damping="0.01" name="object0:joint" type="free" /> <geom condim="3" mass="0.1" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" zaxis="0.0 0.0 1.0" /> <geom condim="3" mass="2" material="block_mat" pos="-0.0001698509955737736 -0.003566971690106175 0.04402468263900506" size="0.011864372523306948 0.010786990780895048 0.051848681472391356" type="box" zaxis="0.0 0.0 1.0" /> <site name="object0" pos="9.795879691480369e-05 -0.0013027797540525476 -2.4698395647265326e-05" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> <site name="handle0" pos="-0.0001698509955737736 -0.003566971690106175 0.03402468263900506" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" /> </body> <light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" /> </worldbody> <actuator> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1" /> <position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1" /> </actuator> </mujoco>
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xml
XML
data_gen/collect_cup_data_xmls/test_mug_1d18255a04d22794e521eeb8bb14c5b3.xml
YunchuZhang/Visually-Grounded-Library-of-Behaviors-for-Generalizing-Manipulation-Across-Objects-Configurations-
896afda942dfc04e4aaad2ee751c32df1eb17913
[ "MIT" ]
1
2022-03-14T22:25:17.000Z
2022-03-14T22:25:17.000Z
data_gen/collect_cup_data_xmls/test_mug_1d18255a04d22794e521eeb8bb14c5b3.xml
YunchuZhang/Visually-Grounded-Library-of-Behaviors
896afda942dfc04e4aaad2ee751c32df1eb17913
[ "MIT" ]
null
null
null
data_gen/collect_cup_data_xmls/test_mug_1d18255a04d22794e521eeb8bb14c5b3.xml
YunchuZhang/Visually-Grounded-Library-of-Behaviors
896afda942dfc04e4aaad2ee751c32df1eb17913
[ "MIT" ]
null
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