hex-zmq-servers 0.3.12__py3-none-any.whl → 0.3.13__py3-none-any.whl

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Files changed (25) hide show
  1. hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml +23 -0
  2. hex_zmq_servers/mujoco/archer_y6/model/robot.xml +59 -56
  3. hex_zmq_servers/mujoco/archer_y6/model/scene.xml +4 -0
  4. hex_zmq_servers/mujoco/archer_y6/model/setting.xml +4 -4
  5. hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml +23 -0
  6. hex_zmq_servers/mujoco/e3_desktop/model/robot.xml +124 -116
  7. hex_zmq_servers/mujoco/e3_desktop/model/scene.xml +4 -0
  8. hex_zmq_servers/mujoco/e3_desktop/model/setting.xml +8 -8
  9. hex_zmq_servers/robot/hexarm/__init__.py +10 -0
  10. hex_zmq_servers/robot/hexarm/robot_hexarm.py +2 -1
  11. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/empty.urdf +207 -0
  12. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100.urdf +207 -0
  13. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_handle.urdf +207 -0
  14. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050.urdf +207 -0
  15. hex_zmq_servers/robot/hexarm/urdf/archer_d6y/gp100_p050_handle.urdf +207 -0
  16. hex_zmq_servers/robot/hexarm/urdf/archer_y6/empty.urdf +22 -22
  17. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100.urdf +22 -22
  18. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_handle.urdf +22 -22
  19. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050.urdf +22 -22
  20. hex_zmq_servers/robot/hexarm/urdf/archer_y6/gp100_p050_handle.urdf +22 -22
  21. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/METADATA +1 -1
  22. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/RECORD +25 -18
  23. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/WHEEL +0 -0
  24. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/licenses/LICENSE +0 -0
  25. {hex_zmq_servers-0.3.12.dist-info → hex_zmq_servers-0.3.13.dist-info}/top_level.txt +0 -0
hex_zmq_servers/mujoco/archer_y6/model/joint_class.xml ADDED
@@ -0,0 +1,23 @@
1
+ <mujocoinclude>
2
+ <default class="j1_class">
3
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
4
+ </default>
5
+ <default class="j2_class">
6
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
7
+ </default>
8
+ <default class="j3_class">
9
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
10
+ </default>
11
+ <default class="j4_class">
12
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
13
+ </default>
14
+ <default class="j5_class">
15
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
16
+ </default>
17
+ <default class="j6_class">
18
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
19
+ </default>
20
+ <default class="jg_class">
21
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
22
+ </default>
23
+ </mujocoinclude>
hex_zmq_servers/mujoco/archer_y6/model/robot.xml CHANGED
@@ -1,88 +1,91 @@
1
1
  <mujocoinclude>
2
2
  <body name="base_link">
3
- <inertial pos="-0.001 0.0318 0" quat="0.5 0.5 0.5 0.5" mass="0.687" diaginertia="0.0007 0.0006 0.0005"/>
3
+ <inertial pos="-0.001 0 0.031" quat="0 0.707107 0 0.707107" mass="0.748" diaginertia="0.0008 0.0007 0.0006"/>
4
4
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_base_link"/>
5
5
 
6
6
  # link 1
7
- <body name="link_1" pos="0 0 0.0665">
8
- <inertial pos="0.008 -0.0023 0.0213" quat="0.707107 0.707107 0 0" mass="0.2154" diaginertia="0.0003 0.0003 0.0002"/>
9
- <joint name="joint_1" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
7
+ <body name="link_1" pos="0 0 0.06655">
8
+ <inertial pos="0.006 -0.0013 0.0209" quat="0.707107 0.707107 0 0" mass="0.2289" diaginertia="0.0004 0.0004 0.0002"/>
9
+ <joint name="joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
10
10
  <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
11
11
 
12
12
  # link 2
13
13
  <body name="link_2" pos="0.02 0 0.045">
14
- <inertial pos="0.0001 -0.0028 0.1317" quat="0.999789 0.0205404 0 0" mass="1.3123" diaginertia="0.018 0.0177288 0.000671225"/>
15
- <joint name="joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
14
+ <inertial pos="0.0001 -0.0013 0.1301" quat="0.999997 -0.00253798 0 0" mass="1.5141" diaginertia="0.021 0.0208005 0.00109949"/>
15
+ <joint name="joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
16
16
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
17
17
 
18
18
  # link 3
19
19
  <body name="link_3" pos="0 0 0.264">
20
- <inertial pos="-0.051 0.0008 0.1447" quat="0.996909 0.0323182 -0.0688403 -0.019747" mass="1.1083" diaginertia="0.0115968 0.0112369 0.00136632"/>
21
- <joint name="joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
20
+ <inertial pos="-0.054 -0.0015 0.1603" quat="0.998349 0 -0.0574445 0" mass="1.2023" diaginertia="0.011127 0.0106 0.00147299"/>
21
+ <joint name="joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
22
22
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
23
23
 
24
24
  # link 4
25
25
  <body name="link_4" pos="-0.06 0 0.245">
26
- <inertial pos="-0.0597 -0.001 0.0572" quat="0 0.92388 0 0.382683" mass="0.5398" diaginertia="0.0011 0.001 0.0005"/>
27
- <joint name="joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
26
+ <inertial pos="-0.058 -0.002 0.0558" quat="0 0.92388 0 0.382683" mass="0.6233" diaginertia="0.0015 0.0012 0.0007"/>
27
+ <joint name="joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
28
28
  <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
29
29
 
30
30
  # link 5
31
- <body name="link_5" pos="-0.0553 0 0.070">
32
- <inertial pos="0.0292 0.0001 -0.0107" quat="0.707107 0 0 0.707107" mass="0.3984" diaginertia="0.0003 0.0002 0.0002"/>
33
- <joint name="joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
31
+ <body name="link_5" pos="-0.0553 0 0.0702">
32
+ <inertial pos="0.0512 0 0.0026" quat="0.5 0.5 0.5 0.5" mass="0.4173" diaginertia="0.0003 0.0003 0.0002"/>
33
+ <joint name="joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
34
34
  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
35
35
 
36
- # gripper base link
37
- <body name="gripper_base_link" pos="0.0553 0 0.029" quat="0.707107 0.0 -0.707107 0.0">
38
- <inertial pos="-0.0139 0.0001 0.0553" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
39
- <joint name="joint_6" pos="0 0 0" axis="1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
40
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
41
- <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
42
- <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
36
+ # link 6
37
+ <body name="link_6" pos="0.0552 0 0.02895">
38
+ <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7751" diaginertia="0.0021 0.00143028 0.00106972"/>
39
+ <joint name="joint_6" class="j6_class" pos="0 0 0" axis="0 0 1" range="-2.96 2.96" limited="true"/>
43
40
 
44
- # ee frame
45
- <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
46
- <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
47
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
48
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
49
- </body>
41
+ <body name="gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
42
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
43
+ <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
44
+ <camera name="end_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
50
45
 
51
- # gripper helper
52
- <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
53
- <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
54
- <joint name="gripper_left_help_joint" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
55
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
56
- </body>
57
- <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
58
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
59
- <joint name="gripper_right_help_joint" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
60
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
61
- </body>
46
+ # ee frame
47
+ <body name="ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
48
+ <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
49
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
50
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
51
+ </body>
62
52
 
63
- # left gripper
64
- <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
65
- <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
66
- <joint name="gripper_left_joint_1" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
67
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
53
+ # gripper helper
54
+ <body name="gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
55
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
56
+ <joint name="gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
57
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
58
+ </body>
59
+ <body name="gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
60
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
61
+ <joint name="gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
62
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
63
+ </body>
68
64
 
69
- <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
70
- <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="0.0339319" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
71
- <joint name="gripper_left_joint_2" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
72
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
65
+ # left gripper
66
+ <body name="gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
67
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
68
+ <joint name="gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
69
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
70
+
71
+ <body name="gripper_left_link_2" pos="0.0085108 0.04927 0">
72
+ <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="1e-6" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
73
+ <joint name="gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
74
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
75
+ </body>
73
76
  </body>
74
- </body>
75
77
 
76
- # right gripper
77
- <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
78
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
79
- <joint name="gripper_right_joint_1" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
80
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
78
+ # right gripper
79
+ <body name="gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
80
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
81
+ <joint name="gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
82
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
81
83
 
82
- <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
83
- <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="0.0339319" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
84
- <joint name="gripper_right_joint_2" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
85
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
84
+ <body name="gripper_right_link_2" pos="0.0085108 -0.04927 0">
85
+ <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="1e-6" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
86
+ <joint name="gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
87
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
88
+ </body>
86
89
  </body>
87
90
  </body>
88
91
  </body>
hex_zmq_servers/mujoco/archer_y6/model/scene.xml CHANGED
@@ -19,6 +19,10 @@
19
19
  <include file="assets/assets.xml"/>
20
20
  </asset>
21
21
 
22
+ <default>
23
+ <include file="joint_class.xml"/>
24
+ </default>
25
+
22
26
  <worldbody>
23
27
  <light pos="0.0 0.0 1.5" directional="true"/>
24
28
  <geom name="floor" size="0.0 0.0 0.05" type="plane" material="groundplane"/>
hex_zmq_servers/mujoco/archer_y6/model/setting.xml CHANGED
@@ -28,10 +28,10 @@
28
28
  <motor joint="joint_1" ctrlrange="-28 28" forcerange="-28 28"/>
29
29
  <motor joint="joint_2" ctrlrange="-28 28" forcerange="-28 28"/>
30
30
  <motor joint="joint_3" ctrlrange="-28 28" forcerange="-28 28"/>
31
- <motor joint="joint_4" ctrlrange="-10 10" forcerange="-10 10"/>
32
- <motor joint="joint_5" ctrlrange="-10 10" forcerange="-10 10"/>
33
- <motor joint="joint_6" ctrlrange="-10 10" forcerange="-10 10"/>
34
- <motor joint="gripper_left_joint_1" ctrlrange="-10 10" forcerange="-10 10"/>
31
+ <motor joint="joint_4" ctrlrange="-28 28" forcerange="-28 28"/>
32
+ <motor joint="joint_5" ctrlrange="-8 8" forcerange="-8 8"/>
33
+ <motor joint="joint_6" ctrlrange="-8 8" forcerange="-8 8"/>
34
+ <motor joint="gripper_left_joint_1" ctrlrange="-8 8" forcerange="-8 8"/>
35
35
  </actuator>
36
36
 
37
37
  </mujocoinclude>
hex_zmq_servers/mujoco/e3_desktop/model/joint_class.xml ADDED
@@ -0,0 +1,23 @@
1
+ <mujocoinclude>
2
+ <default class="j1_class">
3
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
4
+ </default>
5
+ <default class="j2_class">
6
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
7
+ </default>
8
+ <default class="j3_class">
9
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
10
+ </default>
11
+ <default class="j4_class">
12
+ <joint armature="0.01" damping="0.1" frictionloss="0.5"/>
13
+ </default>
14
+ <default class="j5_class">
15
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
16
+ </default>
17
+ <default class="j6_class">
18
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
19
+ </default>
20
+ <default class="jg_class">
21
+ <joint armature="0.01" damping="0.05" frictionloss="0.1"/>
22
+ </default>
23
+ </mujocoinclude>
hex_zmq_servers/mujoco/e3_desktop/model/robot.xml CHANGED
@@ -8,85 +8,89 @@
8
8
  <camera name="head_camera" pos="0.084 0 0.52075" quat="0.6532815 0.2705981 -0.2705981 -0.6532815" fovy="70"/>
9
9
 
10
10
  # left link 1
11
- <body name="left_link_1" pos="0.0185 0.3 0.21152">
12
- <inertial pos="0.008 -0.0023 0.0213" quat="0.707107 0.707107 0 0" mass="0.2154" diaginertia="0.0003 0.0003 0.0002"/>
13
- <joint name="left_joint_1" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
11
+ <body name="left_link_1" pos="0.0185 0.3 0.21157">
12
+ <inertial pos="0.006 -0.0013 0.0209" quat="0.707107 0.707107 0 0" mass="0.2289" diaginertia="0.0004 0.0004 0.0002"/>
13
+ <joint name="left_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
14
14
  <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
15
15
 
16
16
  # left link 2
17
17
  <body name="left_link_2" pos="0.02 0 0.045">
18
- <inertial pos="0.0001 -0.0028 0.1317" quat="0.999789 0.0205404 0 0" mass="1.3123" diaginertia="0.018 0.0177288 0.000671225"/>
19
- <joint name="left_joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
18
+ <inertial pos="0.0001 -0.0013 0.1301" quat="0.999997 -0.00253798 0 0" mass="1.5141" diaginertia="0.021 0.0208005 0.00109949"/>
19
+ <joint name="left_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
20
20
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
21
21
 
22
22
  # left link 3
23
23
  <body name="left_link_3" pos="0 0 0.264">
24
- <inertial pos="-0.051 0.0008 0.1447" quat="0.996909 0.0323182 -0.0688403 -0.019747" mass="1.1083" diaginertia="0.0115968 0.0112369 0.00136632"/>
25
- <joint name="left_joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
24
+ <inertial pos="-0.054 -0.0015 0.1603" quat="0.998349 0 -0.0574445 0" mass="1.2023" diaginertia="0.011127 0.0106 0.00147299"/>
25
+ <joint name="left_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
26
26
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
27
27
 
28
28
  # left link 4
29
29
  <body name="left_link_4" pos="-0.06 0 0.245">
30
- <inertial pos="-0.0597 -0.001 0.0572" quat="0 0.92388 0 0.382683" mass="0.5398" diaginertia="0.0011 0.001 0.0005"/>
31
- <joint name="left_joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
30
+ <inertial pos="-0.058 -0.002 0.0558" quat="0 0.92388 0 0.382683" mass="0.6233" diaginertia="0.0015 0.0012 0.0007"/>
31
+ <joint name="left_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
32
32
  <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
33
33
 
34
34
  # left link 5
35
- <body name="left_link_5" pos="-0.0553006 0 0.07025">
36
- <inertial pos="0.0292 0.0001 -0.0107" quat="0.707107 0 0 0.707107" mass="0.3984" diaginertia="0.0003 0.0002 0.0002"/>
37
- <joint name="left_joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
35
+ <body name="left_link_5" pos="-0.0553 0 0.0702">
36
+ <inertial pos="0.0512 0 0.0026" quat="0.5 0.5 0.5 0.5" mass="0.4173" diaginertia="0.0003 0.0003 0.0002"/>
37
+ <joint name="left_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
38
38
  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
39
39
 
40
- # left gripper base link
41
- <body name="left_gripper_base_link" pos="0.0578 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
42
- <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
43
- <joint name="left_joint_6" pos="0 0 0" axis="1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
44
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
45
- <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
46
- <camera name="left_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
47
-
48
- # ee frame
49
- <body name="left_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
50
- <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
51
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
52
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
53
- </body>
54
-
55
- # gripper helper
56
- <body name="left_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
57
- <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
58
- <joint name="left_gripper_left_help_joint" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
59
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
60
- </body>
61
- <body name="left_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
62
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
63
- <joint name="left_gripper_right_help_joint" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
64
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
65
- </body>
66
-
67
- # left gripper
68
- <body name="left_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
69
- <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
70
- <joint name="left_gripper_left_joint_1" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
71
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
40
+ # left link 6
41
+ <body name="left_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
42
+ <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7751" diaginertia="0.0021 0.00143028 0.00106972"/>
43
+ <joint name="left_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
44
+
45
+ # left gripper base link
46
+ <body name="left_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
47
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
48
+ <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
49
+ <camera name="left_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
50
+
51
+ # ee frame
52
+ <body name="left_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
53
+ <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
54
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
55
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
56
+ </body>
72
57
 
73
- <body name="left_gripper_left_link_2" pos="0.0085108 0.04927 0">
74
- <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="0.0339319" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
75
- <joint name="left_gripper_left_joint_2" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
76
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
58
+ # gripper helper
59
+ <body name="left_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
60
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
61
+ <joint name="left_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
62
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
63
+ </body>
64
+ <body name="left_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
65
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
66
+ <joint name="left_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
67
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
77
68
  </body>
78
- </body>
79
69
 
80
- # right gripper
81
- <body name="left_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
82
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
83
- <joint name="left_gripper_right_joint_1" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
84
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
70
+ # left gripper
71
+ <body name="left_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
72
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
73
+ <joint name="left_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
74
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
75
+
76
+ <body name="left_gripper_left_link_2" pos="0.0085108 0.04927 0">
77
+ <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="1e-6" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
78
+ <joint name="left_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
79
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
80
+ </body>
81
+ </body>
85
82
 
86
- <body name="left_gripper_right_link_2" pos="0.0085108 -0.04927 0">
87
- <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="0.0339319" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
88
- <joint name="left_gripper_right_joint_2" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
89
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
83
+ # right gripper
84
+ <body name="left_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
85
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
86
+ <joint name="left_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
87
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
88
+
89
+ <body name="left_gripper_right_link_2" pos="0.0085108 -0.04927 0">
90
+ <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="1e-6" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
91
+ <joint name="left_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
92
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
93
+ </body>
90
94
  </body>
91
95
  </body>
92
96
  </body>
@@ -97,85 +101,89 @@
97
101
  </body>
98
102
 
99
103
  # right link 1
100
- <body name="right_link_1" pos="0.0185 -0.3 0.21152">
101
- <inertial pos="0.008 -0.0023 0.0213" quat="0.707107 0.707107 0 0" mass="0.2154" diaginertia="0.0003 0.0003 0.0002"/>
102
- <joint name="right_joint_1" pos="0 0 0" axis="0 0 1" range="-2.7 2.7" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
104
+ <body name="right_link_1" pos="0.0185 -0.3 0.21157">
105
+ <inertial pos="0.006 -0.0013 0.0209" quat="0.707107 0.707107 0 0" mass="0.2289" diaginertia="0.0004 0.0004 0.0002"/>
106
+ <joint name="right_joint_1" class="j1_class" pos="0 0 0" axis="0 0 1" range="-2.91 2.91" limited="true"/>
103
107
  <geom type="mesh" rgba="0.92549 0.92549 0.92549 1" mesh="arm_link_1"/>
104
108
 
105
109
  # right link 2
106
110
  <body name="right_link_2" pos="0.02 0 0.045">
107
- <inertial pos="0.0001 -0.0028 0.1317" quat="0.999789 0.0205404 0 0" mass="1.3123" diaginertia="0.018 0.0177288 0.000671225"/>
108
- <joint name="right_joint_2" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
111
+ <inertial pos="0.0001 -0.0013 0.1301" quat="0.999997 -0.00253798 0 0" mass="1.5141" diaginertia="0.021 0.0208005 0.00109949"/>
112
+ <joint name="right_joint_2" class="j2_class" pos="0 0 0" axis="0 1 0" range="-1.57 2.09" limited="true"/>
109
113
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_2"/>
110
114
 
111
115
  # right link 3
112
116
  <body name="right_link_3" pos="0 0 0.264">
113
- <inertial pos="-0.051 0.0008 0.1447" quat="0.996909 0.0323182 -0.0688403 -0.019747" mass="1.1083" diaginertia="0.0115968 0.0112369 0.00136632"/>
114
- <joint name="right_joint_3" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true" armature="0.01" damping="0.1" frictionloss="0.5"/>
117
+ <inertial pos="-0.054 -0.0015 0.1603" quat="0.998349 0 -0.0574445 0" mass="1.2023" diaginertia="0.011127 0.0106 0.00147299"/>
118
+ <joint name="right_joint_3" class="j3_class" pos="0 0 0" axis="0 1 0" range="0 3.14" limited="true"/>
115
119
  <geom type="mesh" rgba="1 1 1 1" mesh="arm_link_3"/>
116
120
 
117
121
  # right link 4
118
122
  <body name="right_link_4" pos="-0.06 0 0.245">
119
- <inertial pos="-0.0597 -0.001 0.0572" quat="0 0.92388 0 0.382683" mass="0.5398" diaginertia="0.0011 0.001 0.0005"/>
120
- <joint name="right_joint_4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
123
+ <inertial pos="-0.058 -0.002 0.0558" quat="0 0.92388 0 0.382683" mass="0.6233" diaginertia="0.0015 0.0012 0.0007"/>
124
+ <joint name="right_joint_4" class="j4_class" pos="0 0 0" axis="0 1 0" range="-1.57 1.57" limited="true"/>
121
125
  <geom type="mesh" rgba="0.792157 0.792157 0.792157 1" mesh="arm_link_4"/>
122
126
 
123
127
  # right link 5
124
- <body name="right_link_5" pos="-0.0553006 0 0.07025">
125
- <inertial pos="0.0292 0.0001 -0.0107" quat="0.707107 0 0 0.707107" mass="0.3984" diaginertia="0.0003 0.0002 0.0002"/>
126
- <joint name="right_joint_5" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
128
+ <body name="right_link_5" pos="-0.0553 0 0.0702">
129
+ <inertial pos="0.0512 0 0.0026" quat="0.5 0.5 0.5 0.5" mass="0.4173" diaginertia="0.0003 0.0003 0.0002"/>
130
+ <joint name="right_joint_5" class="j5_class" pos="0 0 0" axis="-1 0 0" range="-1.57 1.57" limited="true"/>
127
131
  <geom type="mesh" rgba="0.898039 0.917647 0.929412 1" mesh="arm_link_5"/>
128
132
 
129
- # right gripper base link
130
- <body name="right_gripper_base_link" pos="0.0578 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
131
- <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7651" diaginertia="0.0021 0.00143028 0.00106972"/>
132
- <joint name="right_joint_6" pos="0 0 0" axis="1 0 0" range="-1.57 1.57" limited="true" armature="0.01" damping="0.02" frictionloss="0.1"/>
133
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
134
- <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
135
- <camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
136
-
137
- # ee frame
138
- <body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
139
- <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
140
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
141
- <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
142
- </body>
143
-
144
- # gripper helper
145
- <body name="right_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
146
- <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
147
- <joint name="right_gripper_left_help_joint" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
148
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
149
- </body>
150
- <body name="right_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
151
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
152
- <joint name="right_gripper_right_help_joint" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
153
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
154
- </body>
155
-
156
- # left gripper
157
- <body name="right_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
158
- <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
159
- <joint name="right_gripper_left_joint_1" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
160
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
133
+ # right link 6
134
+ <body name="right_link_6" pos="0.0552 0 0.02895" quat="0.707107 0.0 -0.707107 0.0">
135
+ <inertial pos="-0.0139 0.0001 0.0578" quat="0.567843 0.421372 0.421372 0.567843" mass="0.7751" diaginertia="0.0021 0.00143028 0.00106972"/>
136
+ <joint name="right_joint_6" class="j6_class" pos="0 0 0" axis="1 0 0" range="-2.96 2.96" limited="true"/>
137
+
138
+ # right gripper base link
139
+ <body name="right_gripper_base_link" pos="0.0 0.0 0.0" quat="0.707107 0 -0.707107 0 ">
140
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_base_link"/>
141
+ <geom pos="0.04 0 0.12" quat="0.6830127 0.6830127 0.1830127 -0.1830127" type="mesh" rgba="0.1 0.1 0.1 1" mesh="camera_link" />
142
+ <camera name="right_camera" pos="0.066 0 0.105" quat="0.8660254 0.0 -0.5 0.0" fovy="50"/>
143
+
144
+ # ee frame
145
+ <body name="right_ee_frame" pos="0.1870 0.0 0.0" quat="1 0 0 0">
146
+ <geom type="cylinder" size="0.002 0.01" pos="0.01 0.00 0.00" quat="0.7071068 0.0000000 0.7071068 0.0000000" rgba="1 0 0 1" contype="0" conaffinity="0" group="4"/>
147
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.01 0.00" quat="0.7071068 0.7071068 0.0000000 0.0000000" rgba="0 1 0 1" contype="0" conaffinity="0" group="4"/>
148
+ <geom type="cylinder" size="0.002 0.01" pos="0.00 0.00 0.01" quat="1.0000000 0.0000000 0.0000000 0.0000000" rgba="0 0 1 1" contype="0" conaffinity="0" group="4"/>
149
+ </body>
161
150
 
162
- <body name="right_gripper_left_link_2" pos="0.0085108 0.04927 0">
163
- <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="0.0339319" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
164
- <joint name="right_gripper_left_joint_2" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
165
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
151
+ # gripper helper
152
+ <body name="right_gripper_left_helper_link" pos="0.057667 0.030604 2.5e-05">
153
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
154
+ <joint name="right_gripper_left_help_joint" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
155
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_helper_link"/>
156
+ </body>
157
+ <body name="right_gripper_right_helper_link" pos="0.057667 -0.030604 2.5e-05">
158
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
159
+ <joint name="right_gripper_right_help_joint" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
160
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_helper_link"/>
166
161
  </body>
167
- </body>
168
162
 
169
- # right gripper
170
- <body name="right_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
171
- <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="0.00594562" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
172
- <joint name="right_gripper_right_joint_1" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
173
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
163
+ # left gripper
164
+ <body name="right_gripper_left_link_1" pos="0.0721 0.014 2.5e-05">
165
+ <inertial pos="0.00299357 0.0232625 -5e-05" quat="0.996724 0 0 0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
166
+ <joint name="right_gripper_left_joint_1" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
167
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_1"/>
168
+
169
+ <body name="right_gripper_left_link_2" pos="0.0085108 0.04927 0">
170
+ <inertial pos="0.0255016 0.00914642 -0.00175617" quat="0.424541 0.412629 0.571518 0.568216" mass="1e-6" diaginertia="1.36949e-05 1.35554e-05 3.4264e-06"/>
171
+ <joint name="right_gripper_left_joint_2" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
172
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_left_link_2"/>
173
+ </body>
174
+ </body>
174
175
 
175
- <body name="right_gripper_right_link_2" pos="0.0085108 -0.04927 0">
176
- <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="0.0339319" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
177
- <joint name="right_gripper_right_joint_2" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" armature="0.01" damping="1.0" frictionloss="0.1" />
178
- <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
176
+ # right gripper
177
+ <body name="right_gripper_right_link_1" pos="0.0721 -0.014 2.5e-05">
178
+ <inertial pos="0.00299357 -0.0232625 -5e-05" quat="0.996724 0 0 -0.0808839" mass="1e-6" diaginertia="2.74798e-06 1.47567e-06 1.34732e-06"/>
179
+ <joint name="right_gripper_right_joint_1" class="jg_class" pos="0 0 0" axis="0 0 1" range="0 1.52" limited="true" />
180
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_1"/>
181
+
182
+ <body name="right_gripper_right_link_2" pos="0.0085108 -0.04927 0">
183
+ <inertial pos="0.0255016 -0.00914642 -0.00175616" quat="0.568212 0.571522 0.412623 0.424547" mass="1e-6" diaginertia="1.36948e-05 1.35553e-05 3.4264e-06"/>
184
+ <joint name="right_gripper_right_joint_2" class="jg_class" pos="0 0 0" axis="0 0 -1" range="0 1.52" limited="true" />
185
+ <geom type="mesh" rgba="1 1 1 1" mesh="gripper_right_link_2"/>
186
+ </body>
179
187
  </body>
180
188
  </body>
181
189
  </body>