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# Python
__pycache__/
*.py[cod]
*$py.class
.Python
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
!diana_driver/lib/
lib64/
parts/
sdist/
var/
wheels/
pip-wheel-metadata/
share/python-wheels/
*.egg-info/
.installed.cfg
*.egg
MANIFEST
# Virtual Environment
venv/
ENV/
env/
.venv
# IDE
.vscode/
.idea/
*.swp
*.swo
*~
.project
.pydevproject
.settings/
*.sublime-project
*.sublime-workspace
# Jupyter Notebook
.ipynb_checkpoints
# Uncomment to ignore all notebooks (if you don't want to track them)
# *.ipynb
# PyTorch / ML
*.pth
*.pt
*.ckpt
*.pkl
*.pickle
checkpoints/
ckpt_models/
runs/
wandb/
weights/
# Dataset
dataset/
demos/dataset/
# Only ignore data files in dataset directories, not test data
# *.hdf5
# *.h5
# *.npz
# Logs
*.log
logs/
tensorboard/
# MuJoCo
*.xmlc
*.mjb
*.mjt
# OS
.DS_Store
.DS_Store?
._*
.Spotlight-V100
.Trashes
ehthumbs.db
Thumbs.db
Desktop.ini
# Temporary files
*.tmp
*.bak
*.swp
tmp/
temp/
# Robot-specific
# diana_driver/lib/*.so # Commented out - track pre-compiled Diana robot drivers
!diana_driver/lib/add_lib.sh
# Model assets (commented out - MuJoCo XML and textures should be tracked)
# assets/models/*.xml
# assets/textures/*.png
# assets/textures/*.jpg
# Test coverage
.coverage
htmlcov/
.pytest_cache/
# MyPy
.mypy_cache/
.dmypy.json
dmypy.json
# Environments
.env
.conda
# Claude
CLAUDE.md
# GEMINI
GEMINI.md
# Copilot
.github/copilot-instructions.md

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# robo-imi-act
#### Description
{**When you're done, you can delete the content in this README and update the file with details for others getting started with your repository**}
#### Software Architecture
Software architecture description
#### Installation
1. xxxx
2. xxxx
3. xxxx
#### Instructions
1. xxxx
2. xxxx
3. xxxx
#### Contribution
1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request
#### Gitee Feature
1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md
2. Gitee blog [blog.gitee.com](https://blog.gitee.com)
3. Explore open source project [https://gitee.com/explore](https://gitee.com/explore)
4. The most valuable open source project [GVP](https://gitee.com/gvp)
5. The manual of Gitee [https://gitee.com/help](https://gitee.com/help)
6. The most popular members [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)

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# robo-imi-act
#### 介绍
{**以下是 Gitee 平台说明，您可以替换此简介**
Gitee 是 OSCHINA 推出的基于 Git 的代码托管平台（同时支持 SVN）。专为开发者提供稳定、高效、安全的云端软件开发协作平台
无论是个人、团队、或是企业，都能够用 Gitee 实现代码托管、项目管理、协作开发。企业项目请看 [https://gitee.com/enterprises](https://gitee.com/enterprises)}
#### 软件架构
软件架构说明
#### 安装教程
1. xxxx
2. xxxx
3. xxxx
#### 使用说明
1. xxxx
2. xxxx
3. xxxx
#### 参与贡献
1. Fork 本仓库
2. 新建 Feat_xxx 分支
3. 提交代码
4. 新建 Pull Request
#### 特技
1. 使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
2. Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
3. 你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
4. [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
5. Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
6. Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)

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<mujoco model="carurdf">
<asset>
<mesh name="base_car_link" file="meshes/base_link.STL" />
<mesh name="wheel_1" file="meshes/wheel_1.STL" />
<mesh name="wheel_1_1" file="meshes/wheel_1_1.STL" />
<mesh name="wheel_1_2" file="meshes/wheel_1_2.STL" />
<mesh name="wheel_1_3" file="meshes/wheel_1_3.STL" />
<mesh name="wheel_1_4" file="meshes/wheel_1_4.STL" />
<mesh name="wheel_1_5" file="meshes/wheel_1_5.STL" />
<mesh name="wheel_1_6" file="meshes/wheel_1_6.STL" />
<mesh name="wheel_1_7" file="meshes/wheel_1_7.STL" />
<mesh name="wheel_1_8" file="meshes/wheel_1_8.STL" />
<mesh name="wheel_1_9" file="meshes/wheel_1_9.STL" />
<mesh name="wheel_1_10" file="meshes/wheel_1_10.STL" />
<mesh name="wheel_2" file="meshes/wheel_2.STL" />
<mesh name="wheel_2_1" file="meshes/wheel_2_1.STL" />
<mesh name="wheel_2_2" file="meshes/wheel_2_2.STL" />
<mesh name="wheel_2_3" file="meshes/wheel_2_3.STL" />
<mesh name="wheel_2_4" file="meshes/wheel_2_4.STL" />
<mesh name="wheel_2_5" file="meshes/wheel_2_5.STL" />
<mesh name="wheel_2_6" file="meshes/wheel_2_6.STL" />
<mesh name="wheel_2_7" file="meshes/wheel_2_7.STL" />
<mesh name="wheel_2_8" file="meshes/wheel_2_8.STL" />
<mesh name="wheel_2_9" file="meshes/wheel_2_9.STL" />
<mesh name="wheel_2_10" file="meshes/wheel_2_10.STL" />
<mesh name="wheel_3" file="meshes/wheel_3.STL" />
<mesh name="wheel_3_1" file="meshes/wheel_3_1.STL" />
<mesh name="wheel_3_2" file="meshes/wheel_3_2.STL" />
<mesh name="wheel_3_3" file="meshes/wheel_3_3.STL" />
<mesh name="wheel_3_4" file="meshes/wheel_3_4.STL" />
<mesh name="wheel_3_5" file="meshes/wheel_3_5.STL" />
<mesh name="wheel_3_6" file="meshes/wheel_3_6.STL" />
<mesh name="wheel_3_7" file="meshes/wheel_3_7.STL" />
<mesh name="wheel_3_8" file="meshes/wheel_3_8.STL" />
<mesh name="wheel_3_9" file="meshes/wheel_3_9.STL" />
<mesh name="wheel_3_10" file="meshes/wheel_3_10.STL" />
<mesh name="wheel_4" file="meshes/wheel_4.STL" />
<mesh name="wheel_4_1" file="meshes/wheel_4_1.STL" />
<mesh name="wheel_4_2" file="meshes/wheel_4_2.STL" />
<mesh name="wheel_4_3" file="meshes/wheel_4_3.STL" />
<mesh name="wheel_4_4" file="meshes/wheel_4_4.STL" />
<mesh name="wheel_4_5" file="meshes/wheel_4_5.STL" />
<mesh name="wheel_4_6" file="meshes/wheel_4_6.STL" />
<mesh name="wheel_4_7" file="meshes/wheel_4_7.STL" />
<mesh name="wheel_4_8" file="meshes/wheel_4_8.STL" />
<mesh name="wheel_4_9" file="meshes/wheel_4_9.STL" />
<mesh name="wheel_4_10" file="meshes/wheel_4_10.STL" />
</asset>
<worldbody>
<body name="base_car_link" pos="0 0 0.29">
<inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491" />
<geom type="mesh" pos="0 0 -0.1" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
<geom type="mesh" pos="0 0 -0.1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
<joint name="base_x_slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-1 0.5" damping="15000"/>
<joint name="base_y_slide_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-1 0.5" damping="15000"/>
<joint name="base_z_hinge_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.57 0.57" damping="10000"/>
<body name="wheel_1" pos="0.320177 -0.247677 -0.1594375" quat="0.92388 0 0 -0.382683">
<inertial pos="-0.40093 -0.0516986 0.0569862" quat="-0.27013 0.653441 0.270227 0.653469" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
<joint name="wheel_1_x" pos="0 0 0" axis="-1 0 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
<body name="wheel_1_1" pos="0.0115 -0.0134816 0.104635" quat="0.997948 0.0640252 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_1_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
</body>
<body name="wheel_1_2" pos="0.0115 0.0458003 0.0838009" quat="0.96889 -0.247491 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_2_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
</body>
<body name="wheel_1_3" pos="0.0115 0.0953478 0.0451558" quat="0.84499 -0.534782 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_3_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
</body>
<body name="wheel_1_4" pos="0.0115 0.0938524 -0.0176627" quat="0.638377 -0.769724 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_4_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
</body>
<body name="wheel_1_5" pos="0.0115 0.0724098 -0.0767273" quat="0.369275 -0.92932 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_5_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
</body>
<body name="wheel_1_6" pos="0.0115 0.0122037 -0.094717" quat="0.0640252 -0.997948 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_6_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
</body>
<body name="wheel_1_7" pos="0.0115 -0.0505961 -0.0925758" quat="0.247491 0.96889 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_7_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
</body>
<body name="wheel_1_8" pos="0.0115 -0.0863101 -0.0408756" quat="0.534782 0.84499 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_8_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
</body>
<body name="wheel_1_9" pos="0.0115 -0.10368 0.0195122" quat="0.769724 0.638377 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_9_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
</body>
<body name="wheel_1_10" pos="0.0115 -0.0655463 0.0694545" quat="0.92932 0.369275 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_10_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
</body>
</body>
<body name="wheel_2" pos="0.320177 0.247677 -0.1594375" quat="0.92388 0 0 0.382683">
<inertial pos="-0.401966 0.0506629 0.0569862" quat="0.271061 0.653132 -0.270974 0.653083" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
<joint name="wheel_2_x" pos="0 0 0" axis="-1 0 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
<body name="wheel_2_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_1_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
</body>
<body name="wheel_2_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_2_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
</body>
<body name="wheel_2_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_3_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
</body>
<body name="wheel_2_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_4_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
</body>
<body name="wheel_2_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_5_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
</body>
<body name="wheel_2_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_6_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
</body>
<body name="wheel_2_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_7_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
</body>
<body name="wheel_2_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_8_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
</body>
<body name="wheel_2_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_9_y" pos="0 0 0" axis="0 1 0" />
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</body>
</body>
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<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
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</body>
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</body>
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</body>
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</body>
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</body>
<body name="wheel_4_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
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<joint name="wheel_4_6_y" pos="0 0 0" axis="0 1 0" />
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</body>
<body name="wheel_4_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
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<joint name="wheel_4_7_y" pos="0 0 0" axis="0 1 0" />
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</body>
<body name="wheel_4_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
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<joint name="wheel_4_8_y" pos="0 0 0" axis="0 1 0" />
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</body>
<body name="wheel_4_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
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<joint name="wheel_4_9_y" pos="0 0 0" axis="0 1 0" />
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<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
</body>
</body>
</body>
</worldbody>
<actuator>
</actuator>
</mujoco>

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roboimi/assets/models/grippers/Swab_gripper/Swab_gripper.xml Normal file
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<mujoco>
<asset>
<mesh name="cambase" file="meshes/cambase.STL" />
<mesh name="cam" file="meshes/cam.STL" />
<mesh name="stick" file="meshes/stick.STL" />
</asset>
<worldbody>
<body name="end_effector">
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
<geom type="mesh" rgba="1 1 1 1" mesh="cambase" />
<body name="cam" pos="0.065054 0.00068038 -0.013835" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06">
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
<camera name="cam" mode="fixed" pos="0.0175 0.00 0.0038" quat="0 0 1 0" fovy="45"/>
</body>
<body name="rod" pos="0 0 0" quat="0.707105 -0.707108 0 0" >
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
<geom type="mesh" mesh="stick" rgba="1 1 1 1" friction="0.2 0.05 0.01"/>
<body name="end" pos="0 0.15 0">
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.0000" diaginertia="0.0000 0.0000 0.0000"/>
<geom size="0.005" quat="0 0 1 1" rgba="1 0 0 1" type="sphere" friction="0.3 0.005 0.001"/>
<site name="gripper_frame" size="0.001" quat="0 0 1 1"/>
</body>
</body>
</body>
</worldbody>
<sensor>
<force name="wall_force_sensor" site="gripper_frame" cutoff="3.0"/>
</sensor>
</mujoco>

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<mujoco model="carurdf">
<compiler angle="radian" autolimits="true"/>
<size njmax="500" nconmax="100" />
<asset>
<!-- car meshs -->
<mesh name="base_car_link" file="../meshes/base_link.STL" />
<mesh name="wheel_1" file="../meshes/wheel_1.STL" />
<mesh name="wheel_1_1" file="../meshes/wheel_1_1.STL" />
<mesh name="wheel_1_2" file="../meshes/wheel_1_2.STL" />
<mesh name="wheel_1_3" file="../meshes/wheel_1_3.STL" />
<mesh name="wheel_1_4" file="../meshes/wheel_1_4.STL" />
<mesh name="wheel_1_5" file="../meshes/wheel_1_5.STL" />
<mesh name="wheel_1_6" file="../meshes/wheel_1_6.STL" />
<mesh name="wheel_1_7" file="../meshes/wheel_1_7.STL" />
<mesh name="wheel_1_8" file="../meshes/wheel_1_8.STL" />
<mesh name="wheel_1_9" file="../meshes/wheel_1_9.STL" />
<mesh name="wheel_1_10" file="../meshes/wheel_1_10.STL" />
<mesh name="wheel_2" file="../meshes/wheel_2.STL" />
<mesh name="wheel_2_1" file="../meshes/wheel_2_1.STL" />
<mesh name="wheel_2_2" file="../meshes/wheel_2_2.STL" />
<mesh name="wheel_2_3" file="../meshes/wheel_2_3.STL" />
<mesh name="wheel_2_4" file="../meshes/wheel_2_4.STL" />
<mesh name="wheel_2_5" file="../meshes/wheel_2_5.STL" />
<mesh name="wheel_2_6" file="../meshes/wheel_2_6.STL" />
<mesh name="wheel_2_7" file="../meshes/wheel_2_7.STL" />
<mesh name="wheel_2_8" file="../meshes/wheel_2_8.STL" />
<mesh name="wheel_2_9" file="../meshes/wheel_2_9.STL" />
<mesh name="wheel_2_10" file="../meshes/wheel_2_10.STL" />
<mesh name="wheel_3" file="../meshes/wheel_3.STL" />
<mesh name="wheel_3_1" file="../meshes/wheel_3_1.STL" />
<mesh name="wheel_3_2" file="../meshes/wheel_3_2.STL" />
<mesh name="wheel_3_3" file="../meshes/wheel_3_3.STL" />
<mesh name="wheel_3_4" file="../meshes/wheel_3_4.STL" />
<mesh name="wheel_3_5" file="../meshes/wheel_3_5.STL" />
<mesh name="wheel_3_6" file="../meshes/wheel_3_6.STL" />
<mesh name="wheel_3_7" file="../meshes/wheel_3_7.STL" />
<mesh name="wheel_3_8" file="../meshes/wheel_3_8.STL" />
<mesh name="wheel_3_9" file="../meshes/wheel_3_9.STL" />
<mesh name="wheel_3_10" file="../meshes/wheel_3_10.STL" />
<mesh name="wheel_4" file="../meshes/wheel_4.STL" />
<mesh name="wheel_4_1" file="../meshes/wheel_4_1.STL" />
<mesh name="wheel_4_2" file="../meshes/wheel_4_2.STL" />
<mesh name="wheel_4_3" file="../meshes/wheel_4_3.STL" />
<mesh name="wheel_4_4" file="../meshes/wheel_4_4.STL" />
<mesh name="wheel_4_5" file="../meshes/wheel_4_5.STL" />
<mesh name="wheel_4_6" file="../meshes/wheel_4_6.STL" />
<mesh name="wheel_4_7" file="../meshes/wheel_4_7.STL" />
<mesh name="wheel_4_8" file="../meshes/wheel_4_8.STL" />
<mesh name="wheel_4_9" file="../meshes/wheel_4_9.STL" />
<mesh name="wheel_4_10" file="../meshes/wheel_4_10.STL" />
<mesh name="robot_stand" file="meshes/dual_robot_stand.stl" />
<mesh name="dual_robot_stand_ring" file="meshes/dual_robot_stand_ring.stl" />
<mesh name="robot_stand2" file="meshes/dual_robot_stand4.stl" />
<!-- arm meshes -->
<mesh name="base_link" file="meshes/robot/base_link.STL"/>
<mesh name="link1" file="meshes/robot/link1.STL"/>
<mesh name="link2" file="meshes/robot/link2.STL"/>
<mesh name="link3" file="meshes/robot/link3.STL"/>
<mesh name="link4" file="meshes/robot/link4.STL"/>
<mesh name="link5" file="meshes/robot/link5.STL"/>
<mesh name="link6" file="meshes/robot/link6.STL"/>
<mesh name="link7" file="meshes/robot/link7.STL"/>
<material name="silver" specular="1" shininess="0.5" reflectance="1" emission="0.25" rgba="0.82 0.82 0.82 1"/>
<material name="grey" specular="1" shininess="0.5" reflectance="1" emission="0.1" rgba="0.5 0.5 0.5 1"/>
<material name="blue" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.678 0.847 0.902 1"/>
<material name="black" specular="1" shininess="0.5" reflectance="1" emission="0" rgba="0.2 0.2 0.2 1"/>
<mesh name="cam" file="../diana_med/meshes/robot/cam.STL" />
<!-- gripper meshes -->
<mesh name="dual_arm_bulkhead" file="meshes/dual_ur5_husky/dual_arm_bulkhead.stl" />
<mesh name="flir-ptu-simple" file="meshes/dual_ur5_husky/flir-ptu-simple.stl" />
<mesh name="sick-lms1xx" file="meshes/dual_ur5_husky/sick-lms1xx.stl" />
<mesh name="pointgrey_bumblebee2" file="meshes/dual_ur5_husky/pointgrey_bumblebee2.stl" />
<mesh name="robotiq_fts300" file="meshes/dual_ur5_husky/robotiq_fts300.stl" />
<mesh name="link_0" file="meshes/dual_ur5_husky/link_0.STL" />
<mesh name="link_1" file="meshes/dual_ur5_husky/link_1.STL" />
<mesh name="link_2" file="meshes/dual_ur5_husky/link_2.STL" />
<mesh name="link_3" file="meshes/dual_ur5_husky/link_3.STL" />
<mesh name="palm" file="meshes/dual_ur5_husky/palm.STL" />
<!-- from Standford robosuite -->
<mesh name="collision_link_0" file="meshes/dual_ur5_husky/collision_link_0.STL" />
<mesh name="collision_link_1" file="meshes/dual_ur5_husky/collision_link_1.STL" />
<mesh name="collision_link_2" file="meshes/dual_ur5_husky/collision_link_2.STL" />
<mesh name="collision_link_3" file="meshes/dual_ur5_husky/collision_link_3.STL" />
<mesh name="collision_palm" file="meshes/dual_ur5_husky/collision_palm.STL" />
</asset>
<worldbody>
<!-- <geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" /> -->
<body name="base_car_link" pos="0.0 0.0 0.0" euler="0 0 0">
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="base_car_link" />
<joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
<joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
<joint armature="0.0001" axis="0 0 1" damping="1e+0" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
<inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
<joint name="base_x_slide_joint" type="slide" pos="0 0 0" axis="1 0 0" limited="true" range="-1 0.5" damping="15000"/>
<joint name="base_y_slide_joint" type="slide" pos="0 0 0" axis="0 1 0" limited="true" range="-1 0.5" damping="15000"/>
<joint name="base_z_hinge_joint" type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="-0.57 0.57" damping="10000"/>
<body name="wheel_1" pos="0.320177 -0.247677 -0.0594375" quat="0.92388 0 0 -0.382683">
<inertial pos="-0.40093 -0.0516986 0.0569862" quat="-0.27013 0.653441 0.270227 0.653469" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
<joint name="wheel_1_x" pos="0 0 0" axis="-1 0 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_1" />
<body name="wheel_1_1" pos="0.0115 -0.0134816 0.104635" quat="0.997948 0.0640252 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_1_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_1" />
</body>
<body name="wheel_1_2" pos="0.0115 0.0458003 0.0838009" quat="0.96889 -0.247491 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_2_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_2" />
</body>
<body name="wheel_1_3" pos="0.0115 0.0953478 0.0451558" quat="0.84499 -0.534782 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_3_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_3" />
</body>
<body name="wheel_1_4" pos="0.0115 0.0938524 -0.0176627" quat="0.638377 -0.769724 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_4_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_4" />
</body>
<body name="wheel_1_5" pos="0.0115 0.0724098 -0.0767273" quat="0.369275 -0.92932 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_5_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_5" />
</body>
<body name="wheel_1_6" pos="0.0115 0.0122037 -0.094717" quat="0.0640252 -0.997948 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_6_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_6" />
</body>
<body name="wheel_1_7" pos="0.0115 -0.0505961 -0.0925758" quat="0.247491 0.96889 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_7_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_7" />
</body>
<body name="wheel_1_8" pos="0.0115 -0.0863101 -0.0408756" quat="0.534782 0.84499 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_8_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_8" />
</body>
<body name="wheel_1_9" pos="0.0115 -0.10368 0.0195122" quat="0.769724 0.638377 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_1_9_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_9" />
</body>
<body name="wheel_1_10" pos="0.0115 -0.0655463 0.0694545" quat="0.92932 0.369275 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_1_10_y" pos="0 0 0" axis="0 -1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_1_10" />
</body>
</body>
<body name="wheel_2" pos="0.320177 0.247677 -0.0594375" quat="0.92388 0 0 0.382683">
<inertial pos="-0.401966 0.0506629 0.0569862" quat="0.271061 0.653132 -0.270974 0.653083" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
<joint name="wheel_2_x" pos="0 0 0" axis="-1 0 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_2" />
<body name="wheel_2_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_1_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_1" />
</body>
<body name="wheel_2_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_2_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_2" />
</body>
<body name="wheel_2_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_3_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_3" />
</body>
<body name="wheel_2_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_4_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_4" />
</body>
<body name="wheel_2_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_5_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_5" />
</body>
<body name="wheel_2_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_6_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_6" />
</body>
<body name="wheel_2_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_7_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_7" />
</body>
<body name="wheel_2_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_8_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_8" />
</body>
<body name="wheel_2_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_2_9_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_9" />
</body>
<body name="wheel_2_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_2_10_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_2_10" />
</body>
</body>
<body name="wheel_3" pos="-0.320177 0.247677 -0.0594375" quat="0.382683 0 0 0.92388">
<inertial pos="-0.402135 -0.0508319 0.0569862" quat="-0.270227 0.653469 0.27013 0.653441" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
<joint name="wheel_3_x" pos="0 0 0" axis="-1 0 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_3" />
<body name="wheel_3_1" pos="0.0115 0.00556754 0.0953376" quat="0.999575 -0.0291618 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_3_1_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_1" />
</body>
<body name="wheel_3_2" pos="0.0115 0.0668818 0.0815909" quat="0.941641 -0.33662 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_3_2_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_2" />
</body>
<body name="wheel_3_3" pos="0.0115 0.0923919 0.0241659" quat="0.791532 -0.611128 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_3_3_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_3" />
</body>
<body name="wheel_3_4" pos="0.0115 0.0982652 -0.0383953" quat="0.563943 -0.825814 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_3_4_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_4" />
</body>
<body name="wheel_3_5" pos="0.0115 0.0515338 -0.0804022" quat="0.281151 -0.959664 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_3_5_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_5" />
</body>
<body name="wheel_3_6" pos="0.0115 -0.00615053 -0.105321" quat="0.0291618 0.999575 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_3_6_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_6" />
</body>
<body name="wheel_3_7" pos="0.0115 -0.0605423 -0.0738572" quat="0.33662 0.941641 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_3_7_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_7" />
</body>
<body name="wheel_3_8" pos="0.0115 -0.102066 -0.0266963" quat="0.611128 0.791532 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_3_8_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_8" />
</body>
<body name="wheel_3_9" pos="0.0115 -0.088951 0.034756" quat="0.825814 0.563943 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_3_9_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_9" />
</body>
<body name="wheel_3_10" pos="0.0115 -0.05693 0.0888213" quat="0.959664 0.281151 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_3_10_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_3_10" />
</body>
</body>
<body name="wheel_4" pos="-0.320177 -0.247677 -0.0594375" quat="0.382683 0 0 -0.92388">
<inertial pos="-0.401099 0.0518676 0.0569862" quat="0.270974 0.653083 -0.271061 0.653132" mass="47.5454" diaginertia="2.73052 1.82823 1.18591" />
<joint name="wheel_4_x" pos="0 0 0" axis="-1 0 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
<geom type="mesh" rgba="0.792157 0.819608 0.933333 1" mesh="wheel_4" />
<body name="wheel_4_1" pos="0.0115 0.0134816 0.104635" quat="0.997948 -0.0640252 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_4_1_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_1" />
</body>
<body name="wheel_4_2" pos="0.0115 0.0655463 0.0694545" quat="0.92932 -0.369275 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_4_2_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_2" />
</body>
<body name="wheel_4_3" pos="0.0115 0.10368 0.0195122" quat="0.769724 -0.638377 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_4_3_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_3" />
</body>
<body name="wheel_4_4" pos="0.0115 0.0863101 -0.0408756" quat="0.534782 -0.84499 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_4_4_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_4" />
</body>
<body name="wheel_4_5" pos="0.0115 0.0505961 -0.0925758" quat="0.247491 -0.96889 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_4_5_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_5" />
</body>
<body name="wheel_4_6" pos="0.0115 -0.0122037 -0.094717" quat="0.0640252 0.997948 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_4_6_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_6" />
</body>
<body name="wheel_4_7" pos="0.0115 -0.0724098 -0.0767273" quat="0.369275 0.92932 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_4_7_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_7" />
</body>
<body name="wheel_4_8" pos="0.0115 -0.0938524 -0.0176627" quat="0.638377 0.769724 0 0">
<inertial pos="0 0 0" quat="0.707107 0 0 0.707107" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_4_8_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_8" />
</body>
<body name="wheel_4_9" pos="0.0115 -0.0953478 0.0451558" quat="0.84499 0.534782 0 0">
<inertial pos="0 0 0" quat="0.707107 0.707107 0 0" mass="0.061182" diaginertia="3.13175e-05 3.13175e-05 1.59889e-05" />
<joint name="wheel_4_9_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_9" />
</body>
<body name="wheel_4_10" pos="0.0115 -0.0458003 0.0838009" quat="0.96889 0.247491 0 0">
<inertial pos="0 0 0" quat="0.5 0.5 0.5 0.5" mass="0.0660884" diaginertia="4.9494e-05 4.42157e-05 4.42157e-05" />
<joint name="wheel_4_10_y" pos="0 0 0" axis="0 1 0" />
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
<geom type="mesh" rgba="0.223529 0.223529 0.223529 1" mesh="wheel_4_10" />
</body>
</body>
<body name="my_cylinder">
<geom size="0.085 0.28" pos="0.0 0.0 0.38" type="cylinder" rgba="0.3 0.3 0.3 1" />
<inertial pos="0.0 0.0 0.0" mass="0.5" diaginertia="0.184 0.1 0.1"/>
</body>
<body name="dual_robot_stand" pos="0.0 0.0 0.66" euler="0 0 0">
<inertial pos="0 0 0" mass="2.0" diaginertia="0.15 0.15 0.15"/>
<joint name="base_stand_joint" axis="0 0 1" pos="0 0 0" limited="true" range="-3.0 3.0"/>
<geom name="robot_stand" type="mesh" mesh="robot_stand2" pos="0 0 0" conaffinity="0" contype="0"/>
<body name="cam" pos="0.0 0.0 0.5425" euler="1.570796 0.0 0.0">
<inertial pos="0 0 0" quat="1 0 0 0" mass="0" diaginertia="0 0 0"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="0.69804 0.69804 0.69804 1" mesh="cam" />
<camera name="cam" mode="fixed" pos="0.0175 0.00 0.00" quat="0 0 1 0" fovy="45"/>
</body>
<!-- right arm -->
<body name="right_base_link" pos="0.15 0 0.46" euler="0.0 0.785398 0.0">
<geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
<body name="right_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
<inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
<joint name="right_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link1"/>
<body name="right_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
<inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
<joint name="right_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
<body name="right_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
<inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
<joint name="right_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
<body name="right_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
<inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
<joint name="right_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
<body name="right_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
<joint name="right_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
<body name="right_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
<inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
<joint name="right_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
<body name="right_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
<inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
<joint name="right_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
<body name="r_gripper" pos="0 0 0.13" quat="0.707105 -0.707105 0 0">
<body name="r_gripper_palm_link" pos="1.64197e-10 0.17378 7.2848e-05" quat="-0.382132 8.29339e-10 0.924108 0.000735892">
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="palm" />
<geom name="r_gripper_palm" type="mesh" group="0" mesh="collision_palm" />
</body>
<body name="r_finger_1_link_0" pos="0.00679839 0.195255 -0.0575191" quat="-0.653702 -0.270618 -0.269798 -0.653184" >
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
<joint name="r_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.16 0.25" />
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
<geom name="f1_l0" type="mesh" group="0" mesh="collision_link_0" />
<body name="r_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
<joint name="r_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
<geom name="f1_l1" type="mesh" group="0" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" mesh="collision_link_1" />
<body name="r_finger_1_link_2" pos="0 0.05715 0">
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
<joint name="r_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
<geom name="f1_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
<body name="r_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
<joint name="r_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_3" />
<geom name="f1_l3" type="mesh" mesh="collision_link_3" />
</body>
</body>
</body>
</body>
<body name="r_finger_2_link_0" pos="0.0576492 0.195157 -0.00654675" quat="-0.653702 -0.270618 -0.269798 -0.653184" >
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
<joint name="r_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.25 0.16" />
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
<geom name="f2_l0" type="mesh" mesh="collision_link_0" />
<body name="r_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
<joint name="r_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
<geom name="f2_l1" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_1" />
<body name="r_finger_2_link_2" pos="0 0.05715 0">
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
<joint name="r_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
<geom name="f2_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
<body name="r_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
<joint name="r_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_3" />
<geom name="f2_l3" type="mesh" mesh="collision_link_3" />
</body>
</body>
</body>
</body>
<body name="r_finger_middle_link_0" pos="-0.0321997 0.195154 0.0322368" quat="-0.270836 0.653183 0.653703 -0.26958" >
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
<joint name="r_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1e-3 1e-3"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_0" />
<geom name="f3_l0" type="mesh" mesh="collision_link_0" />
<body name="r_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
<joint name="r_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_1" />
<geom name="f3_l1" pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_1" />
<body name="r_finger_middle_link_2" pos="0 0.05715 0">
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
<joint name="r_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" contype="0" conaffinity="0" group="1" mesh="link_2" />
<geom name="f3_l2" pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="collision_link_2" />
<body name="r_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075">
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
<joint name="r_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="0 3.1416" />
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link_3" />
<geom name="f3_l3" type="mesh" mesh="collision_link_3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!-- left arm -->
<body name="left_base_link" pos="-0.15 0 0.46" euler="0.0 -0.785398 3.14">
<geom type="mesh" rgba="1 1 1 1" mesh="base_link" pos="0 0 0"/>
<body name="left_link1" pos="8.7058e-05 -0.00063474 0.2985" quat="-3.67321e-06 1 0 0">
<inertial pos="4.57641e-06 -0.0439746 0.0236145" quat="0.685631 -0.172505 0.172644 0.685818" mass="2.72698" diaginertia="0.0122186 0.0113371 0.00692616"/>
<joint name="left_j1" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link1"/>
<body name="left_link2" pos="0 0 -0.00092116" quat="0.707105 0.707108 0 0">
<inertial pos="8.26088e-06 -0.040728 -0.0363117" quat="0.596612 0.379593 -0.379572 0.596564" mass="3.18168" diaginertia="0.0189254 0.0180721 0.00757505"/>
<joint name="left_j2" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link2"/>
<body name="left_link3" pos="0 -0.45818 0.0005" quat="0.707105 -0.707108 0 0">
<inertial pos="0.0148079 -0.0159925 0.127198" quat="0.874546 -0.136758 -0.0611978 0.461217" mass="3.93616" diaginertia="0.0569273 0.0547312 0.00935482"/>
<joint name="left_j3" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link3"/>
<body name="left_link4" pos="0.064454 0.0005 -0.00070508" quat="0.707105 0.707108 0 0">
<inertial pos="-0.0145884 -0.0117113 -0.0406158" quat="0.00473736 0.651043 0.564294 0.507635" mass="1.58469" diaginertia="0.00499445 0.00482606 0.00267104"/>
<joint name="left_j4" pos="0 0 0" axis="0 0 1" limited="true" range="0.0 3.05" damping="0.8"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link4"/>
<body name="left_link5" pos="-0.052254 -0.45668 0.0005" quat="0.707105 -0.707108 0 0">
<inertial pos="-0.00209922 0.0288297 0.222845" quat="0.985159 0.138333 -0.00891494 0.101222" mass="1.92688" diaginertia="0.0293358 0.0290794 0.00210656"/>
<joint name="left_j5" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" springref="1" armature="1" damping="1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link5"/>
<body name="left_link6" pos="0 -0.005 -1.1713e-05" quat="-2.59734e-06 -2.59735e-06 -0.707108 -0.707105">
<inertial pos="0.038358 -0.00071885 -0.0021112" quat="0.0131349 0.678937 -0.0198942 0.733809" mass="1.7304" diaginertia="0.005268 0.00492614 0.00345065"/>
<joint name="left_j6" pos="0 0 0" axis="0 0 1" limited="true" range="-3.14 3.14" damping="0.1"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link6"/>
<body name="left_link7" pos="0.076728 -0.1059 0" quat="0.707105 -0.707108 0 0">
<inertial pos="0.00068467 1.5999e-05 0.020834" quat="0.000547318 0.708756 -0.000448023 0.705453" mass="0.16696" diaginertia="0.000143911 8.8902e-05 8.75358e-05"/>
<joint name="left_j7" pos="0 0 0" axis="0 0 -1" limited="true" range="-3.14 3.14" damping="0.01"/>
<geom type="mesh" rgba="1 1 1 1" mesh="link7"/>
<body name="l_gripper" pos="0 0 0.135" quat=" 0.707 -0.707 0 0">
<body name="l_gripper_palm_link" pos="1.64197e-10 0.17378 7.2848e-05" quat="0.28154 8.61146e-10 0.959549 0.000764115" >
<geom type="mesh" mesh="palm" />
</body>
<body name="l_finger_1_link_0" pos="0.0577286 0.195213 -0.00560494" quat="-0.678775 0.198461 0.199695 -0.678233" >
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
<joint name="l_palm_finger_1_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
<geom type="mesh" mesh="link_0" />
<body name="l_finger_1_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
<joint name="l_finger_1_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_1" />
<body name="l_finger_1_link_2" pos="0 0.05715 0">
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
<joint name="l_finger_1_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
<body name="l_finger_1_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
<joint name="l_finger_1_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
<geom type="mesh" mesh="link_3" />
</body>
</body>
</body>
</body>
<body name="l_finger_2_link_0" pos="0.0188268 0.195108 0.0549809" quat="-0.678775 0.198461 0.199695 -0.678233" >
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
<joint name="l_palm_finger_2_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-0.2967 0.2967" />
<geom type="mesh" mesh="link_0" />
<body name="l_finger_2_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
<joint name="l_finger_2_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_1" />
<body name="l_finger_2_link_2" pos="0 0.05715 0">
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
<joint name="l_finger_2_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
<body name="l_finger_2_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
<joint name="l_finger_2_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
<geom type="mesh" mesh="link_3" />
</body>
</body>
</body>
</body>
<body name="l_finger_middle_link_0" pos="-0.0382961 0.1952 -0.0244795" quat="0.198618 0.678234 0.678774 0.19954" >
<inertial pos="-0.01 0 0" quat="0.5 0.5 0.5 0.5" mass="0.1" diaginertia="2.5e-05 2.5e-05 1.8e-05" />
<joint name="l_palm_finger_middle_joint" pos="0 0 0" axis="0 1 0" limited="true" range="-1e-3 1e-3"/>
<geom type="mesh" mesh="link_0" />
<body name="l_finger_middle_link_1" pos="0 0 0" quat="0.501642 0 0 -0.865075">
<inertial pos="0.00053 0.03218 0" quat="0.00544471 0.00542787 0.707078 0.707093" mass="0.047" diaginertia="6.43594e-05 6.06192e-05 4.97928e-06" />
<joint name="l_finger_middle_joint_1" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.2217" />
<geom pos="0 0.05717 0" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_1" />
<body name="l_finger_middle_link_2" pos="0 0.05715 0">
<inertial pos="0.00048 0.02167 0.00018" quat="0.00523005 0.00665272 0.709882 0.70427" mass="0.03284" diaginertia="2.24866e-05 1.98645e-05 3.47368e-06" />
<joint name="l_finger_middle_joint_2" pos="0 0 0" axis="0 0 1" limited="true" range="0 1.5708" />
<geom pos="0 0.0381 0.0075" quat="0.707105 0 0 0.707108" type="mesh" mesh="link_2" />
<body name="l_finger_middle_link_3" pos="0 0.039 0" quat="0.501642 0 0 0.865075" >
<inertial pos="0.01626 0.00049 0.0002" quat="0.520969 0.517877 0.481643 0.477927" mass="0.03354" diaginertia="1.43512e-05 1.26412e-05 2.98016e-06" />
<joint name="l_finger_middle_joint_3" pos="0 0 0" axis="0 0 1" limited="true" range="-0.6632 1.0471" />
<geom type="mesh" mesh="link_3" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name="object" pos="1.1 0 0.4">
<inertial pos="0.0 0.0 0.0" mass="2" diaginertia="0.184 0.1 0.1"/>
<joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
<geom name="wall" type="box" size="0.1 0.4 0.4" rgba="0.8 0.8 0.8 1" friction="0.0000 0.000 0.0000"/>
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-10.0 10.0" joint="base_x_slide_joint" kp="18000" name="base_x_slide_joint" user="1"/>
<position ctrllimited="true" ctrlrange="-10.0 10.0" joint="base_y_slide_joint" kp="18000" name="base_y_slide_joint" user="1"/>
<position ctrllimited="true" ctrlrange="-0.57 0.57" kp="20000" joint="base_z_hinge_joint" name="base_z_hinge_joint" user="1"/>
<motor name="base_stand_joint_motor" joint="base_stand_joint" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<!-- right arm -->
<motor name="right_m1" joint="right_j1" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="right_m2" joint="right_j2" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="right_m3" joint="right_j3" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="right_m4" joint="right_j4" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="right_m5" joint="right_j5" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="right_m6" joint="right_j6" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="right_m7" joint="right_j7" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<!-- left arm -->
<motor name="left_m1" joint="left_j1" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="left_m2" joint="left_j2" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="left_m3" joint="left_j3" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="left_m4" joint="left_j4" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="left_m5" joint="left_j5" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="left_m6" joint="left_j6" ctrllimited="true" ctrlrange="-80.0 80.0"/>
<motor name="left_m7" joint="left_j7" ctrllimited="true" ctrlrange="-80.0 80.0"/>
</actuator>
<tendon>
<!--Middlefinger tendons-->
<fixed name="r_middle12_cpl" range="0 1">
<joint joint="r_finger_middle_joint_1" coef="1"/>
<joint joint="r_finger_middle_joint_2" coef="-1.5"/>
</fixed>
<fixed name="r_middle23_cpl" range="0 1">
<joint joint="r_finger_middle_joint_2" coef="1"/>
<joint joint="r_finger_middle_joint_3" coef="-3.5"/>
</fixed>
<!--finger2 tendons-->
<fixed name="r_finger2_12_cpl" range="0 1">
<joint joint="r_finger_2_joint_1" coef="1"/>
<joint joint="r_finger_2_joint_2" coef="-1.5"/>
</fixed>
<fixed name="r_finger2_23_cpl" range="0 1">
<joint joint="r_finger_2_joint_2" coef="1"/>
<joint joint="r_finger_2_joint_3" coef="-3.5"/>
</fixed>
<!--Finger1 tendons-->
<fixed name="r_finger1_12_cpl" range="0 1">
<joint joint="r_finger_1_joint_1" coef="1"/>
<joint joint="r_finger_1_joint_2" coef="-1.5"/>
</fixed>
<fixed name="r_finger1_23_cpl" range="0 1">
<joint joint="r_finger_1_joint_2" coef="1"/>
<joint joint="r_finger_1_joint_3" coef="-3.5"/>
</fixed>
</tendon>
<!-- left gripper -->
<tendon>
<!--Middlefinger tendons-->
<fixed name="l_middle12_cpl" range="0 1">
<joint joint="l_finger_middle_joint_1" coef="1"/>
<joint joint="l_finger_middle_joint_2" coef="-1.5"/>
</fixed>
<fixed name="l_middle23_cpl" range="0 1">
<joint joint="l_finger_middle_joint_2" coef="1"/>
<joint joint="l_finger_middle_joint_3" coef="-3.5"/>
</fixed>
<!--finger2 tendons-->
<fixed name="l_finger2_12_cpl" range="0 1">
<joint joint="l_finger_2_joint_1" coef="1"/>
<joint joint="l_finger_2_joint_2" coef="-1.5"/>
</fixed>
<fixed name="l_finger2_23_cpl" range="0 1">
<joint joint="l_finger_2_joint_2" coef="1"/>
<joint joint="l_finger_2_joint_3" coef="-3.5"/>
</fixed>
<!--Finger1 tendons-->
<fixed name="l_finger1_12_cpl" range="0 1">
<joint joint="l_finger_1_joint_1" coef="1"/>
<joint joint="l_finger_1_joint_2" coef="-1.5"/>
</fixed>
<fixed name="l_finger1_23_cpl" range="0 1">
<joint joint="l_finger_1_joint_2" coef="1"/>
<joint joint="l_finger_1_joint_3" coef="-3.5"/>
</fixed>
</tendon>
<!-- right gripper -->
<equality>
<!-- GRIPPER Couplings -->
<tendon name="r_middle12_cpl" tendon1="r_middle12_cpl"/>
<tendon name="r_middle23_cpl" tendon1="r_middle23_cpl"/>
<tendon name="r_finger2_12_cpl" tendon1="r_finger2_12_cpl"/>
<tendon name="r_finger2_23_cpl" tendon1="r_finger2_23_cpl"/>
<tendon name="r_finger1_12_cpl" tendon1="r_finger1_12_cpl"/>
<tendon name="r_finger1_23_cpl" tendon1="r_finger1_23_cpl"/>
<!-- SCISSOR Coupling -->
<joint name="r_finger_12_scissor" joint1="r_palm_finger_2_joint" joint2="r_palm_finger_1_joint" polycoef="0 -1 0 0 0"/>
</equality>
<!-- left gripper -->
<equality>
<!-- GRIPPER Couplings -->
<tendon name="l_middle12_cpl" tendon1="l_middle12_cpl"/>
<tendon name="l_middle23_cpl" tendon1="l_middle23_cpl"/>
<tendon name="l_finger2_12_cpl" tendon1="l_finger2_12_cpl"/>
<tendon name="l_finger2_23_cpl" tendon1="l_finger2_23_cpl"/>
<tendon name="l_finger1_12_cpl" tendon1="l_finger1_12_cpl"/>
<tendon name="l_finger1_23_cpl" tendon1="l_finger1_23_cpl"/>
<!-- SCISSOR Coupling -->
<joint name="l_finger_12_scissor" joint1="l_palm_finger_2_joint" joint2="l_palm_finger_1_joint" polycoef="0 -1 0 0 0"/>
</equality>
<contact>
<!-- left gripper -->
<exclude body1="l_finger_1_link_1" body2="l_gripper_palm_link"/>
<exclude body1="l_finger_2_link_1" body2="l_gripper_palm_link"/>
<exclude body1="l_finger_middle_link_1" body2="l_gripper_palm_link"/>
<exclude body1="l_finger_1_link_0" body2="l_gripper_palm_link"/>
<exclude body1="l_finger_2_link_0" body2="l_gripper_palm_link"/>
<exclude body1="l_finger_middle_link_0" body2="l_gripper_palm_link"/>
<exclude body1="l_finger_1_link_0" body2="l_finger_1_link_1"/>
<exclude body1="l_finger_2_link_0" body2="l_finger_2_link_1"/>
<exclude body1="l_finger_middle_link_0" body2="l_finger_middle_link_1"/>
<!-- right gripper -->
<exclude body1="r_finger_1_link_1" body2="r_gripper_palm_link"/>
<exclude body1="r_finger_2_link_1" body2="r_gripper_palm_link"/>
<exclude body1="r_finger_middle_link_1" body2="r_gripper_palm_link"/>
<exclude body1="r_finger_1_link_0" body2="r_gripper_palm_link"/>
<exclude body1="r_finger_2_link_0" body2="r_gripper_palm_link"/>
<exclude body1="r_finger_middle_link_0" body2="r_gripper_palm_link"/>
<exclude body1="r_finger_1_link_0" body2="r_finger_1_link_1"/>
<exclude body1="r_finger_2_link_0" body2="r_finger_2_link_1"/>
<exclude body1="r_finger_middle_link_0" body2="r_finger_middle_link_1"/>
</contact>
<include file ="empty_floor.xml"/>
</mujoco>

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# Blender MTL File: 'None'
# Material Count: 1
newmtl Material_001
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.001651 0.001651 0.001651
Ks 0.500000 0.500000 0.500000
Ke 0.100000 0.100000 0.100000
Ni 1.000000
d 1.000000
illum 2

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# Blender MTL File: 'None'
# Material Count: 2
newmtl Material_001
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.640000 0.000000 0.000000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
newmtl Material_002
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

38600
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# Blender MTL File: 'None'
# Material Count: 1
newmtl Material_001_001
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

9449
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# Blender MTL File: 'None'
# Material Count: 1
newmtl Material_001_002
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2

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