robotic 0.2.9.dev1__cp311-cp311-manylinux2014_x86_64.whl → 0.3.0__cp311-cp311-manylinux2014_x86_64.whl

robotic/rai-robotModels/baxter/baxter_clean.g

@@ -1,116 +0,0 @@
-body base: { mass: 185.633 }
-body head: { X: [0.06, 0, 0.686, 0.707107, 0, -0.707107, 0], mass: 1.02313 }
-body right_upper_shoulder: { X: [0.0640272, -0.259027, 0.129626, 0.653281, -0.270599, -0.653281, -0.270599], mass: 8.77895 }
-body left_upper_shoulder: { X: [0.0640272, 0.259027, 0.129626, 0.653281, 0.270599, -0.653281, 0.270599], mass: 8.77895 }
-body right_lower_shoulder: { X: [0.112818, -0.307818, 0.399976, -0.653282, 0.653282, 0.270597, -0.270597], mass: 7.67181 }
-body left_lower_shoulder: { X: [0.112818, 0.307818, 0.399976, -0.270597, 0.270597, 0.653282, -0.653282], mass: 7.67181 }
-body right_upper_elbow: { X: [0.184942, -0.379943, 0.399976, 0.923879, 1.32497e-12, -3.19872e-12, -0.382684], mass: 5.52286 }
-body left_upper_elbow: { X: [0.184942, 0.379943, 0.399976, 0.923879, 3.19889e-12, -1.32491e-12, 0.382684], mass: 5.52286 }
-body right_lower_elbow: { X: [0.370501, -0.565502, 0.330976, -0.653282, 0.653282, 0.270597, -0.270597], mass: 6.27938 }
-body left_lower_elbow: { X: [0.370501, 0.565502, 0.330976, -0.270597, 0.270597, 0.653282, -0.653282], mass: 6.27938 }
-body right_upper_forearm: { X: [0.44375, -0.638751, 0.330976, 0.923879, 3.58688e-12, -4.13569e-12, -0.382684], mass: 3.24201 }
-body left_upper_forearm: { X: [0.44375, 0.638751, 0.330976, 0.923879, 5.46085e-12, -3.87967e-13, 0.382684], mass: 3.24201 }
-body right_lower_forearm: { X: [0.635163, -0.830166, 0.320976, -0.653282, 0.653282, 0.270597, -0.270597], mass: 2.74076 }
-body left_lower_forearm: { X: [0.635163, 0.830166, 0.320976, -0.270597, 0.270597, 0.653282, -0.653282], mass: 2.74076 }
-body right_wrist: { X: [0.71717, -0.912173, 0.320976, 0.923879, 5.8489e-12, -5.07266e-12, -0.382684], mass: 3.22029 }
-body left_wrist: { X: [0.71717, 0.912173, 0.320976, 0.923879, 7.72288e-12, 5.4895e-13, 0.382684], mass: 3.22029 }
-body r_gripper_l_finger: { X: [0.828221, -1.02535, 0.320976, -0.653282, -0.653282, -0.270597, -0.270597], mass: 0.0526538 }
-body r_gripper_r_finger: { X: [0.830342, -1.02322, 0.320976, -0.653282, -0.653282, -0.270597, -0.270597], mass: 0.0526538 }
-body l_gripper_l_finger: { X: [0.830342, 1.02322, 0.320976, -0.270597, -0.270597, -0.653282, -0.653282], mass: 0.0553155 }
-body l_gripper_r_finger: { X: [0.828221, 1.02535, 0.320976, -0.270597, -0.270597, -0.653282, -0.653282], mass: 0.0553155 }
-
-shape visual (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0286935, -0.000728762, 0.371004, 1, 0, 0, 0], mesh: <torso/base_link.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_base (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0648345, 1.53654e-05, 0.172863, 1, 0, 0, 0], contact: -2, mesh: <torso/base_link_collision.STL>, rel_includes_mesh_center, }
-shape visual (head): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0319886, -2.26154e-05, -0.00274816, -0.707107, 0, -0.707107, 0], mesh: <head/H0.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_head (head): { shape: sphere, size: [0, 0, 0, 0.001], Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], contact: -2 }
-shape visual (base): { shape: capsule, size: [0, 0, 0.01, 0.085], Q: [0.06, 8.1634e-19, 0.827118, -1, 0, 0, 0], color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_base (base): { shape: sphere, size: [0, 0, 0, 0.001], Q: [0.0947, 0, 0.817, -1, 0, 0, 0], contact: -2 }
-shape visual (head): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0055038, -0.000139031, -0.0938075, -0.453099, -0.453099, -0.542864, 0.542864], mesh: <head/H1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_head (head): { shape: sphere, size: [0, 0, 0, 0.001], Q: [2.72449e-17, 0, -0.1227, 0.063474, -0.704252, -0.704252, 0.063474], contact: -2 }
-shape visual (head): { shape: box, size: [0.218, 0.16, 0.001, 0], Q: [-0.0157421, 1.40048e-14, -0.119839, 0.154854, -0.689942, -0.689942, 0.154854], color: [0, 0, 0, 1] }
-shape visual (base): { shape: sphere, size: [0, 0, 0, 0.001], Q: [0.11, 0, 0.75, 1, 0, 0, 0], color: [0.8, 0.3, 0.3, 0.3] }
-#shape collision_base (base): { shape: sphere, size: [0, 0, 0, 0.22], Q: [0.04, -0.04, 0.75, 1, 0, 0, 0], contact: -2 }
-shape visual (base): { shape: sphere, size: [0, 0, 0, 0.001], Q: [0.11, 0, 0.75, 1, 0, 0, 0], color: [0.8, 0.3, 0.3, 0.3] }
-#shape collision_base (base): { shape: sphere, size: [0, 0, 0, 0.22], Q: [0.04, 0.04, 0.75, 1, 0, 0, 0], contact: -2 }
-shape visual (right_upper_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [0.204968, -0.000259649, -0.0560219, -0.707107, 0, -0.707107, 0], mesh: <upper_shoulder/S0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_upper_shoulder (right_upper_shoulder): { shape: capsule, size: [0, 0, 0.2722, 0.06], Q: [0.152112, -1.33336e-18, 3.36804e-17, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_lower_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [6.04869e-05, -2.01515e-05, -0.0561637, -0.707107, 0, -0.707107, 0], mesh: <lower_shoulder/S1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_lower_shoulder (right_lower_shoulder): { shape: capsule, size: [0, 0, 0.12, 0.06], Q: [0.00705882, -1.33336e-18, 1.47213e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_upper_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [0.217587, -2.10593e-05, 0.0125858, -0.707107, 0, -0.707107, 0], mesh: <upper_elbow/E0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_upper_elbow (right_upper_elbow): { shape: capsule, size: [0, 0, 0.107, 0.06], Q: [-0.0472059, -1.33336e-18, -1.05771e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_right_lower_shoulder (right_lower_shoulder): { shape: capsule, size: [0, 0, 0.273, 0.06], Q: [7.47116e-13, -7.47017e-13, -0.259559, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -2, rel_includes_mesh_center, }
-shape visual (right_lower_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [4.23177e-05, 0.000105171, -0.0200289, -0.707107, 0, -0.707107, 0], mesh: <lower_elbow/E1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_lower_elbow (right_lower_elbow): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_upper_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.132336, -0.00156713, 0.0374155, -0.707107, 0, -0.707107, 0], mesh: <upper_forearm/W0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_upper_forearm (right_upper_forearm): { shape: capsule, size: [0, 0, 0.088, 0.06], Q: [-0.0388235, -1.33336e-18, -8.71579e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_right_lower_elbow (right_lower_elbow): { shape: capsule, size: [0, 0, 0.272, 0.06], Q: [7.44375e-13, -7.44281e-13, -0.24, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -10, rel_includes_mesh_center, }
-shape visual (right_lower_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00191909, -0.00263826, -0.0345565, -0.707107, 0, -0.707107, 0], mesh: <lower_forearm/W1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_lower_forearm (right_lower_forearm): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (right_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.106397, 0.0019882, -0.0192091, -0.707107, 0, -0.707107, 0], mesh: <wrist/W2.STL>, color: [0.1, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_right_wrist (right_wrist): { shape: capsule, size: [0, 0, 0.165, 0.06], Q: [0.00970588, -1.33336e-18, 2.0599e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_right_wrist (right_wrist): { shape: capsule, size: [0, 0, 0.0464, 0.04], Q: [0.0930794, -1.00682e-18, 2.05368e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape visual (right_wrist): { shape: capsule, size: [0, 0, 0.01, 0.02], Q: [0.129493, 0.012, -0.03825, -0.5, 0.5, -0.5, 0.5], color: [0, 0, 1, 0.8], rel_includes_mesh_center, }
-shape visual (right_wrist): { shape: box, size: [0.005, 0.02, 0.005, 0], Q: [0.14235, -0.020245, -0.032, -0.707107, 0.707107, -1.73112e-12, 1.73128e-12], color: [0, 0, 1, 0.8] }
-shape visual (right_wrist): { shape: box, size: [0.01, 0.01, 0.01, 0], Q: [0.09895, 0.000133, -0.00198, -0.707107, 0, -0.707107, 0], color: [0, 0, 0, 1] }
-shape visual (left_upper_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [0.204968, -0.000259649, -0.0560219, -0.707107, 0, -0.707107, 0], mesh: <upper_shoulder/S0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_upper_shoulder (left_upper_shoulder): { shape: capsule, size: [0, 0, 0.2722, 0.06], Q: [0.152112, -1.33336e-18, 3.36804e-17, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_lower_shoulder): { shape: mesh, size: [1, 1, 1, 1], Q: [6.04869e-05, -2.01515e-05, -0.0561637, -0.707107, 0, -0.707107, 0], mesh: <lower_shoulder/S1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_lower_shoulder (left_lower_shoulder): { shape: capsule, size: [0, 0, 0.12, 0.06], Q: [0.00705882, -1.33336e-18, 1.47213e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_upper_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [0.217587, -2.10593e-05, 0.0125858, -0.707107, 0, -0.707107, 0], mesh: <upper_elbow/E0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_upper_elbow (left_upper_elbow): { shape: capsule, size: [0, 0, 0.107, 0.06], Q: [-0.0472059, -1.33336e-18, -1.05771e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_left_lower_shoulder (left_lower_shoulder): { shape: capsule, size: [0, 0, 0.273, 0.06], Q: [7.47116e-13, -7.47017e-13, -0.259559, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -2, rel_includes_mesh_center, }
-shape visual (left_lower_elbow): { shape: mesh, size: [1, 1, 1, 1], Q: [4.23177e-05, 0.000105171, -0.0200289, -0.707107, 0, -0.707107, 0], mesh: <lower_elbow/E1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_lower_elbow (left_lower_elbow): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_upper_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.132336, -0.00156713, 0.0374155, -0.707107, 0, -0.707107, 0], mesh: <upper_forearm/W0.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_upper_forearm (left_upper_forearm): { shape: capsule, size: [0, 0, 0.088, 0.06], Q: [-0.0388235, -1.33336e-18, -8.71579e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_left_lower_elbow (left_lower_elbow): { shape: capsule, size: [0, 0, 0.272, 0.06], Q: [7.44375e-13, -7.44281e-13, -0.24, 3.46251e-12, 0.707107, 0.707107, 5.55112e-17], contact: -2, rel_includes_mesh_center, }
-shape visual (left_lower_forearm): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00191909, -0.00263826, -0.0345565, -0.707107, 0, -0.707107, 0], mesh: <lower_forearm/W1.STL>, color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_lower_forearm (left_lower_forearm): { shape: capsule, size: [0, 0, 0.1, 0.06], Q: [0.00588235, -1.33336e-18, 1.21091e-18, -0.707107, 0, -0.707107, 0], contact: -2, rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.106397, 0.0019882, -0.0192091, -0.707107, 0, -0.707107, 0], mesh: <wrist/W2.STL>, color: [0.1, 0.1, 0.1, 1], rel_includes_mesh_center, }
-shape collision_left_wrist (left_wrist): { shape: capsule, size: [0, 0, 0.165, 0.06], Q: [0.00970588, -1.33336e-18, 2.0599e-18, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape collision_left_wrist (left_wrist): { shape: capsule, size: [0, 0, 0.0464, 0.04], Q: [0.0930794, -1.00682e-18, 2.05368e-17, -0.707107, 0, -0.707107, 0], contact: -3, rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: capsule, size: [0, 0, 0.01, 0.02], Q: [0.129493, 0.012, -0.03825, -0.5, 0.5, -0.5, 0.5], color: [0, 0, 1, 0.8], rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: box, size: [0.005, 0.02, 0.005, 0], Q: [0.14235, -0.020245, -0.032, -0.707107, 0.707107, -1.73112e-12, 1.73128e-12], color: [0, 0, 1, 0.8] }
-shape visual (left_wrist): { shape: box, size: [0.01, 0.01, 0.01, 0], Q: [0.09895, 0.000133, -0.00198, -0.707107, 0, -0.707107, 0], color: [0, 0, 0, 1] }
-shape visual (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.026058, 0.000178965, -0.772106, 1, 0, 0, 0], mesh: <base/PEDESTAL.STL>, color: [0.2, 0.2, 0.2, 1], rel_includes_mesh_center, }
-shape collision_base (base): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0426509, -0.000255201, -0.589587, 1, 0, 0, 0], mesh: <base/pedestal_link_collision.STL>, rel_includes_mesh_center, }
-shape visual (left_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.139922, -0.000401862, 0.00785846, 0.5, -0.5, -0.5, -0.5], mesh: <electric_gripper/electric_gripper_base.STL>, rel_includes_mesh_center, }
-shape collision_left_wrist (left_wrist): { shape: capsule, size: [0, 0, 0.1, 0.029], Q: [0.13855, 0.00588235, 3.06724e-17, 0.5, -0.5, -0.5, -0.5], color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, contact: -2 }
-shape visual (l_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00211614, 0.00383573, 0.0286702, 0.707107, -0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_l_finger (l_gripper_l_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [0.01725, 3.83027e-18, 0.0615, 0.707107, -0, 0, 0.707107] }
-shape visual (l_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.0110665, -6.99422e-05, 0.0992843, -0.707107, 0, 0, -0.707107], mesh: <electric_gripper/fingers/paddle_tip.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_l_finger (l_gripper_l_finger): { shape: box, size: [0.042, 0.0065, 0.037, 0], Q: [0.01275, 2.83107e-18, 0.0977, -0.707107, 0, 0, -0.707107] }
-shape visual (l_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.00211614, -0.00383573, 0.0286702, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_r_finger (l_gripper_r_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [-0.01725, -3.83027e-18, 0.0615, -0.707107, 0, 0, 0.707107] }
-shape visual (l_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0110665, 6.99422e-05, 0.0992843, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/paddle_tip.STL>, rel_includes_mesh_center, }
-shape collision_l_gripper_r_finger (l_gripper_r_finger): { shape: box, size: [0.042, 0.0065, 0.037, 0], Q: [-0.01275, -2.83107e-18, 0.0977, -0.707107, 0, 0, 0.707107] }
-shape visual (right_wrist): { shape: mesh, size: [1, 1, 1, 1], Q: [0.139922, -0.000401862, 0.00785846, 0.5, -0.5, -0.5, -0.5], mesh: <electric_gripper/electric_gripper_base.STL>, rel_includes_mesh_center, }
-shape collision_right_wrist (right_wrist): { shape: capsule, size: [0, 0, 0.1, 0.029], Q: [0.13855, 0.00588235, 3.06724e-17, 0.5, -0.5, -0.5, -0.5], color: [0.5, 0.1, 0.1, 1], rel_includes_mesh_center, contact: -2 }
-shape visual (r_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.00211614, 0.00383573, 0.0286702, 0.707107, -0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_l_finger (r_gripper_l_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [0.01725, 3.83027e-18, 0.0615, 0.707107, -0, 0, 0.707107] }
-shape visual (r_gripper_l_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [0.0119087, 0.0002756, 0.0933624, -0.707107, 0, 0, -0.707107], mesh: <electric_gripper/fingers/half_round_tip.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_l_finger (r_gripper_l_finger): { shape: capsule, size: [0, 0, 0.037, 0.008], Q: [0.01275, 2.83915e-18, 0.0998765, -0.707107, 0, 0, -0.707107], rel_includes_mesh_center, }
-shape visual (r_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.00211614, -0.00383573, 0.0286702, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/extended_narrow.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_r_finger (r_gripper_r_finger): { shape: box, size: [0.01, 0.0135, 0.1127, 0], Q: [-0.01725, -3.83027e-18, 0.0615, -0.707107, 0, 0, 0.707107] }
-shape visual (r_gripper_r_finger): { shape: mesh, size: [1, 1, 1, 1], Q: [-0.0119087, -0.0002756, 0.0933624, -0.707107, 0, 0, 0.707107], mesh: <electric_gripper/fingers/half_round_tip.STL>, rel_includes_mesh_center, }
-shape collision_r_gripper_r_finger (r_gripper_r_finger): { shape: capsule, size: [0, 0, 0.037, 0.008], Q: [-0.01275, -2.83915e-18, 0.0998765, -0.707107, 0, 0, 0.707107], rel_includes_mesh_center, }
-
-joint head_pan (base head): { joint: hingeX, from: [0.06, 0, 0.686, 0.707107, 0, -0.707107, 0], limits: [-1.3963, 1.3963], ctrl_limits: [10000, 50000, 1] }
-joint right_s0 (base right_upper_shoulder): { joint: hingeX, from: [0.0640272, -0.259027, 0.129626, 0.653281, -0.270599, -0.653281, -0.270599], limits: [-1.70168, 1.70168], ctrl_limits: [1.5, 50, 1] }
-joint left_s0 (base left_upper_shoulder): { joint: hingeX, from: [0.0640272, 0.259027, 0.129626, 0.653281, 0.270599, -0.653281, 0.270599], limits: [-1.70168, 1.70168], ctrl_limits: [1.5, 50, 1] }
-joint right_s1 (right_upper_shoulder right_lower_shoulder): { joint: hingeX, from: [0.27035, 0, -0.069, -0.707107, 1.11022e-16, -5.55112e-17, -0.707107], limits: [-2.147, 1.047], ctrl_limits: [1.5, 50, 1] }
-joint left_s1 (left_upper_shoulder left_lower_shoulder): { joint: hingeX, from: [0.27035, 0, -0.069, -0.707107, 1.11022e-16, -5.55112e-17, -0.707107], limits: [-2.147, 1.047], ctrl_limits: [1.5, 50, 1] }
-joint right_e0 (right_lower_shoulder right_upper_elbow): { joint: hingeX, from: [2.26485e-17, 0, -0.102, -0.5, -0.5, -0.5, 0.5], limits: [-3.05418, 3.05418], ctrl_limits: [1.5, 50, 1] }
-joint left_e0 (left_lower_shoulder left_upper_elbow): { joint: hingeX, from: [2.26485e-17, 0, -0.102, -0.5, -0.5, -0.5, 0.5], limits: [-3.05418, 3.05418], ctrl_limits: [1.5, 50, 1] }
-joint right_e1 (right_upper_elbow right_lower_elbow): { joint: hingeX, from: [0.26242, 0, -0.069, -0.5, 0.5, 0.5, -0.5], limits: [-0.05, 2.618], ctrl_limits: [1.5, 50, 1] }
-joint left_e1 (left_upper_elbow left_lower_elbow): { joint: hingeX, from: [0.26242, 0, -0.069, -0.5, 0.5, 0.5, -0.5], limits: [-0.05, 2.618], ctrl_limits: [1.5, 50, 1] }
-joint right_w0 (right_lower_elbow right_upper_forearm): { joint: hingeX, from: [2.30016e-17, 0, -0.10359, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint left_w0 (left_lower_elbow left_upper_forearm): { joint: hingeX, from: [2.30016e-17, 0, -0.10359, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint right_w1 (right_upper_forearm right_lower_forearm): { joint: hingeX, from: [0.2707, 0, -0.01, -0.5, 0.5, 0.5, -0.5], limits: [-1.5708, 2.094], ctrl_limits: [4, 15, 1] }
-joint left_w1 (left_upper_forearm left_lower_forearm): { joint: hingeX, from: [0.2707, 0, -0.01, -0.5, 0.5, 0.5, -0.5], limits: [-1.5708, 2.094], ctrl_limits: [4, 15, 1] }
-joint right_w2 (right_lower_forearm right_wrist): { joint: hingeX, from: [2.57516e-17, 0, -0.115975, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint left_w2 (left_lower_forearm left_wrist): { joint: hingeX, from: [2.57516e-17, 0, -0.115975, -0.5, -0.5, -0.5, 0.5], limits: [-3.059, 3.059], ctrl_limits: [4, 15, 1] }
-joint r_gripper_l_finger_joint (right_wrist r_gripper_l_finger): { joint: transX, from: [0.15855, -0.0015, 3.52052e-17, -0.5, -0.5, -0.5, -0.5], limits: [0, 0.020833], ctrl_limits: [5, 20, 1], r_gripper }
-joint r_gripper_r_finger_joint (right_wrist r_gripper_r_finger): { joint: transX, from: "t(0.15855 0.0015 0) d(90 1 0 0) d(-90 0 1 0) ", to: "d(-180 0 1 0)", mimic: "r_gripper_l_finger_joint", limits: [-0.020833, 0], ctrl_limits: [5, 20, 1], r_gripper }
-joint l_gripper_l_finger_joint (left_wrist l_gripper_l_finger): { joint: transX, from: [0.15855, -0.0015, 3.52052e-17, -0.5, -0.5, -0.5, -0.5], limits: [0, 0.020833], ctrl_limits: [5, 20, 1], l_gripper }
-joint l_gripper_r_finger_joint (left_wrist l_gripper_r_finger): { joint: transX, from: "t(0.15855 0.0015 0) d(90 1 0 0) d(-90 0 1 0) ", to: "d(-180 0 1 0)", mimic: "l_gripper_l_finger_joint", limits: [-0.020833, 0], ctrl_limits: [5, 20, 1], l_gripper}

robotic/rai-robotModels/baxter/baxter_clean2.g

@@ -1,205 +0,0 @@
-base: {  }
-collision_head_1_origin(base): { rel: [0.11, 0, 0.75, 1, 0, 0, 0] }
-collision_head_2_origin(base): { rel: [0.11, 0, 0.75, 1, 0, 0, 0] }
-torso_t0(base): { joint: rigid, limits: [-3.01, 3.01], ctrl_limits: [10000, -1, 50000] }
-collision_head_1(collision_head_1_origin): { joint: rigid }
-collision_head_2(collision_head_2_origin): { joint: rigid }
-torso(torso_t0): { mass: 35.3365, inertia: [1.84916, -0.000354, -0.154188, 1.66267, 0.003292, 0.802239] }
-collision_head_link_1(collision_head_1): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-collision_head_link_2(collision_head_2): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-torso_0(torso): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <baxter_description/meshes/torso/base_link.ply>, visual: True }
-left_torso_itb_fixed_origin(torso): { rel: [-0.08897, 0.15593, 0.389125, 3.2758e-05, -3.2758e-05, 0.707107, 0.707107] }
-right_torso_itb_fixed_origin(torso): { rel: [-0.08897, -0.15593, 0.389125, 0.707107, 0.707107, 0, 0] }
-head_pan_origin(torso): { rel: [0.06, 0, 0.686, 1, 0, 0, 0] }
-sonar_s0_origin(torso): { rel: [0.0947, 0, 0.817, 1, 0, 0, 0] }
-right_torso_arm_mount_origin(torso): { rel: [0.024645, -0.219645, 0.118588, 0.923879, 0, 0, -0.382684] }
-left_torso_arm_mount_origin(torso): { rel: [0.024645, 0.219645, 0.118588, 0.923879, 0, 0, 0.382684] }
-pedestal_fixed_origin(torso): {  }
-collision_head_link_1_0(collision_head_link_1): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.3, 0.3, 0.3], visual: True }
-collision_head_link_2_0(collision_head_link_2): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.3, 0.3, 0.3], visual: True }
-left_torso_itb_fixed(left_torso_itb_fixed_origin): { joint: rigid }
-right_torso_itb_fixed(right_torso_itb_fixed_origin): { joint: rigid }
-head_pan(head_pan_origin): { joint: hingeZ, limits: [-1.3963, 1.3963, 10000, -1, 50000], ctrl_limits: [10000, -1, 50000] }
-sonar_s0(sonar_s0_origin): { joint: rigid }
-right_torso_arm_mount(right_torso_arm_mount_origin): { joint: rigid }
-left_torso_arm_mount(left_torso_arm_mount_origin): { joint: rigid }
-pedestal_fixed(pedestal_fixed_origin): { joint: rigid }
-left_torso_itb(left_torso_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_torso_itb(right_torso_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-head(head_pan): { mass: 0.547767, inertia: [0.004641, 0.000159, 0.000242, 0.003295, -0.001324, 0.003415] }
-sonar_ring(sonar_s0): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_arm_mount(right_torso_arm_mount): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_arm_mount(left_torso_arm_mount): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-pedestal(pedestal_fixed): { mass: 60.864, inertia: [5.06359, 0.00103417, 0.801996, 6.08689, 0.00105311, 4.96192] }
-head_0(head): { rel: [0, 0, 0.00953, 1, 0, 0, 0], shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <baxter_description/meshes/head/H0.ply>, visual: True }
-dummy(head): { joint: rigid }
-head_nod_origin(head): { rel: [0.1227, 0, 0, 0.453099, 0.542864, 0.542864, 0.453099] }
-head_camera_origin(head): { rel: [0.12839, 0, 0.06368, 0.453099, 0.542864, 0.542864, 0.453099] }
-sonar_ring_0(sonar_ring): { rel: [-0.0347, 0, 0.00953, 1, 0, 0, 0], shape: cylinder, size: [0, 0, 0.01, 0.085], color: [0.2, 0.2, 0.2, 1], visual: True }
-right_s0_origin(right_arm_mount): { rel: [0.055695, 0, 0.011038, 1, 0, 0, 0] }
-left_s0_origin(left_arm_mount): { rel: [0.055695, 0, 0.011038, 1, 0, 0, 0] }
-pedestal_0(pedestal): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <baxter_description/meshes/base/PEDESTAL.ply>, visual: True }
-dummyhead1(dummy): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-head_nod(head_nod_origin): { joint: rigid }
-head_camera(head_camera_origin): { joint: rigid }
-right_s0(right_s0_origin): { joint: hingeZ, limits: [-1.70168, 1.70168, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_s0(left_s0_origin): { joint: hingeZ, limits: [-1.70168, 1.70168, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-screen(head_nod): { mass: 0.440171, inertia: [0.004006, 0.00023, 2e-06, 0.0028, 2.9e-05, 0.001509] }
-head_camera_47(head_camera): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_upper_shoulder(right_s0): { mass: 5.70044, inertia: [0.047091, 0.000127876, 0.0061487, 0.0376698, 0.000780869, 0.0359599] }
-left_upper_shoulder(left_s0): { mass: 5.70044, inertia: [0.047091, 0.000127876, 0.0061487, 0.0376698, 0.000780869, 0.0359599] }
-screen_0(screen): { rel: [0, -0.00953, -0.0347, 0.707107, 0, -0.707107, 0], shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/head/H1.ply>, visual: True }
-display_joint_origin(screen): { rel: [0, -0.016, 0, 1, 0, 0, 0] }
-right_upper_shoulder_0(right_upper_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_shoulder/S0.ply>, visual: True }
-right_s1_origin(right_upper_shoulder): { rel: [0.069, 0, 0.27035, 0.707107, -0.707107, 0, 0] }
-left_upper_shoulder_0(left_upper_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_shoulder/S0.ply>, visual: True }
-left_s1_origin(left_upper_shoulder): { rel: [0.069, 0, 0.27035, 0.707107, -0.707107, 0, 0] }
-display_joint(display_joint_origin): { joint: rigid }
-right_s1(right_s1_origin): { joint: hingeZ, limits: [-2.147, 1.047, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_s1(left_s1_origin): { joint: hingeZ, limits: [-2.147, 1.047, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-display(display_joint): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_lower_shoulder(right_s1): { mass: 3.22698, inertia: [0.0117521, -0.000300964, 0.00207676, 0.027886, -0.00018822, 0.0207875] }
-left_lower_shoulder(left_s1): { mass: 3.22698, inertia: [0.0117521, -0.000300964, 0.00207676, 0.027886, -0.00018822, 0.0207875] }
-display_0(display): { rel: [0, 0, 0, 0.991445, 0.130526, 0, 0], shape: box, size: [0.218, 0.16, 0.001, 0], color: [0, 0, 0, 1], visual: True }
-right_lower_shoulder_0(right_lower_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_shoulder/S1.ply>, visual: True }
-right_e0_origin(right_lower_shoulder): { rel: [0.102, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_e0_fixed_origin(right_lower_shoulder): { rel: [0.107, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_lower_shoulder_0(left_lower_shoulder): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_shoulder/S1.ply>, visual: True }
-left_e0_origin(left_lower_shoulder): { rel: [0.102, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_e0_fixed_origin(left_lower_shoulder): { rel: [0.107, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_e0(right_e0_origin): { joint: hingeZ, limits: [-3.05418, 3.05418, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-right_e0_fixed(right_e0_fixed_origin): { joint: rigid }
-left_e0(left_e0_origin): { joint: hingeZ, limits: [-3.05418, 3.05418, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_e0_fixed(left_e0_fixed_origin): { joint: rigid }
-right_upper_elbow(right_e0): { mass: 4.31272, inertia: [0.0266173, 0.000292706, 0.0039219, 0.0284436, 0.00108389, 0.0124801] }
-right_upper_elbow_visual(right_e0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_upper_elbow(left_e0): { mass: 4.31272, inertia: [0.0266173, 0.000292706, 0.0039219, 0.0284436, 0.00108389, 0.0124801] }
-left_upper_elbow_visual(left_e0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_upper_elbow_0(right_upper_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_elbow/E0.ply>, visual: True }
-right_e1_origin(right_upper_elbow): { rel: [0.069, 0, 0.26242, 0.5, -0.5, -0.5, -0.5] }
-left_upper_elbow_0(left_upper_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_elbow/E0.ply>, visual: True }
-left_e1_origin(left_upper_elbow): { rel: [0.069, 0, 0.26242, 0.5, -0.5, -0.5, -0.5] }
-right_e1(right_e1_origin): { joint: hingeZ, limits: [-0.05, 2.618, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-left_e1(left_e1_origin): { joint: hingeZ, limits: [-0.05, 2.618, 1.5, -1, 50], ctrl_limits: [1.5, -1, 50] }
-right_lower_elbow(right_e1): { mass: 2.07206, inertia: [0.00711583, 0.000360362, 0.00074595, 0.0131823, -0.000196634, 0.00926852] }
-left_lower_elbow(left_e1): { mass: 2.07206, inertia: [0.00711583, 0.000360362, 0.00074595, 0.0131823, -0.000196634, 0.00926852] }
-right_lower_elbow_0(right_lower_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_elbow/E1.ply>, visual: True }
-right_w0_origin(right_lower_elbow): { rel: [0.10359, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_w0_fixed_origin(right_lower_elbow): { rel: [0.088, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_lower_elbow_0(left_lower_elbow): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_elbow/E1.ply>, visual: True }
-left_w0_origin(left_lower_elbow): { rel: [0.10359, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_w0_fixed_origin(left_lower_elbow): { rel: [0.088, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_w0(right_w0_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-right_w0_fixed(right_w0_fixed_origin): { joint: rigid }
-left_w0(left_w0_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-left_w0_fixed(left_w0_fixed_origin): { joint: rigid }
-right_upper_forearm(right_w0): { mass: 2.24665, inertia: [0.0166774, 0.000184037, 0.000186576, 0.0167546, -0.000647324, 0.00374631] }
-right_upper_forearm_visual(right_w0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_upper_forearm(left_w0): { mass: 2.24665, inertia: [0.0166774, 0.000184037, 0.000186576, 0.0167546, -0.000647324, 0.00374631] }
-left_upper_forearm_visual(left_w0_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_upper_forearm_0(right_upper_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_forearm/W0.ply>, visual: True }
-right_w0_to_itb_fixed_origin(right_upper_forearm): { rel: [-0.0565, 0, 0.12, 0.5, -0.5, -0.5, 0.5] }
-right_w1_origin(right_upper_forearm): { rel: [0.01, 0, 0.2707, 0.5, -0.5, -0.5, -0.5] }
-left_upper_forearm_0(left_upper_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/upper_forearm/W0.ply>, visual: True }
-left_w0_to_itb_fixed_origin(left_upper_forearm): { rel: [-0.0565, 0, 0.12, 0.5, -0.5, -0.5, 0.5] }
-left_w1_origin(left_upper_forearm): { rel: [0.01, 0, 0.2707, 0.5, -0.5, -0.5, -0.5] }
-right_w0_to_itb_fixed(right_w0_to_itb_fixed_origin): { joint: rigid }
-right_w1(right_w1_origin): { joint: hingeZ, limits: [-1.5708, 2.094, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-left_w0_to_itb_fixed(left_w0_to_itb_fixed_origin): { joint: rigid }
-left_w1(left_w1_origin): { joint: hingeZ, limits: [-1.5708, 2.094, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-right_arm_itb(right_w0_to_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_lower_forearm(right_w1): { mass: 1.60979, inertia: [0.00387607, -0.000443848, -0.00021115, 0.00700538, 0.000153481, 0.00552755] }
-left_arm_itb(left_w0_to_itb_fixed): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_lower_forearm(left_w1): { mass: 1.60979, inertia: [0.00387607, -0.000443848, -0.00021115, 0.00700538, 0.000153481, 0.00552755] }
-right_lower_forearm_0(right_lower_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_forearm/W1.ply>, visual: True }
-right_w2_origin(right_lower_forearm): { rel: [0.115975, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-left_lower_forearm_0(left_lower_forearm): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <baxter_description/meshes/lower_forearm/W1.ply>, visual: True }
-left_w2_origin(left_lower_forearm): { rel: [0.115975, 0, 0, 0.5, 0.5, 0.5, 0.5] }
-right_w2(right_w2_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-left_w2(left_w2_origin): { joint: hingeZ, limits: [-3.059, 3.059, 4, -1, 15], ctrl_limits: [4, -1, 15] }
-right_wrist(right_w2): { mass: 0.35093, inertia: [0.000252892, 5.75311e-06, -1.59345e-06, 0.00026886, -5.19818e-06, 0.000307412] }
-left_wrist(left_w2): { mass: 0.35093, inertia: [0.000252892, 5.75311e-06, -1.59345e-06, 0.00026886, -5.19818e-06, 0.000307412] }
-right_wrist_0(right_wrist): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <baxter_description/meshes/wrist/W2.ply>, visual: True }
-right_hand_origin(right_wrist): { rel: [0, 0, 0.11355, 1, 0, 0, 0] }
-left_wrist_0(left_wrist): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <baxter_description/meshes/wrist/W2.ply>, visual: True }
-left_hand_origin(left_wrist): { rel: [0, 0, 0.11355, 1, 0, 0, 0] }
-right_hand(right_hand_origin): { joint: rigid }
-left_hand(left_hand_origin): { joint: rigid }
-right_hand_127(right_hand): { mass: 0.19125, inertia: [0.00017588, 1.47073e-06, 2.43633e-05, 0.000211664, 1.72689e-06, 0.000237454] }
-left_hand_128(left_hand): { mass: 0.19125, inertia: [0.00017588, 1.47073e-06, 2.43633e-05, 0.000211664, 1.72689e-06, 0.000237454] }
-right_hand_camera_origin(right_hand_127): { rel: [0.03825, 0.012, 0.015355, 0.707107, 0, 0, -0.707107] }
-right_hand_camera_axis_origin(right_hand_127): { rel: [0.03825, 0.012, 0.015355, 1, 0, 0, 0] }
-right_hand_range_origin(right_hand_127): { rel: [0.032, -0.020245, 0.0288, 0.5, -0.5, -0.5, -0.5] }
-right_hand_accelerometer_origin(right_hand_127): { rel: [0.00198, 0.000133, -0.0146, 1, 0, 0, 0] }
-right_gripper_base_origin(right_hand_127): { rel: [0, 0, 0.025, 1, 0, 0, 0] }
-left_hand_camera_origin(left_hand_128): { rel: [0.03825, 0.012, 0.015355, 0.707107, 0, 0, -0.707107] }
-left_hand_camera_axis_origin(left_hand_128): { rel: [0.03825, 0.012, 0.015355, 1, 0, 0, 0] }
-left_hand_range_origin(left_hand_128): { rel: [0.032, -0.020245, 0.0288, 0.5, -0.5, -0.5, -0.5] }
-left_hand_accelerometer_origin(left_hand_128): { rel: [0.00198, 0.000133, -0.0146, 1, 0, 0, 0] }
-left_gripper_base_origin(left_hand_128): { rel: [0, 0, 0.025, 1, 0, 0, 0] }
-right_hand_camera(right_hand_camera_origin): { joint: rigid }
-right_hand_camera_axis(right_hand_camera_axis_origin): { joint: rigid }
-right_hand_range(right_hand_range_origin): { joint: rigid }
-right_hand_accelerometer(right_hand_accelerometer_origin): { joint: rigid }
-right_gripper_base(right_gripper_base_origin): { joint: rigid }
-left_hand_camera(left_hand_camera_origin): { joint: rigid }
-left_hand_camera_axis(left_hand_camera_axis_origin): { joint: rigid }
-left_hand_range(left_hand_range_origin): { joint: rigid }
-left_hand_accelerometer(left_hand_accelerometer_origin): { joint: rigid }
-left_gripper_base(left_gripper_base_origin): { joint: rigid }
-right_hand_camera_149(right_hand_camera): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_hand_camera_axis_150(right_hand_camera_axis): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_hand_range_151(right_hand_range): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_hand_accelerometer_152(right_hand_accelerometer): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-right_gripper_base_153(right_gripper_base): { mass: 0.3, inertia: [2e-08, 3e-08, 2e-08] }
-left_hand_camera_154(left_hand_camera): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_hand_camera_axis_155(left_hand_camera_axis): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_hand_range_156(left_hand_range): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_hand_accelerometer_157(left_hand_accelerometer): { mass: 0.0001, inertia: [1e-08, 1e-08, 1e-08] }
-left_gripper_base_158(left_gripper_base): { mass: 0.3, inertia: [2e-08, 3e-08, 2e-08] }
-right_hand_camera_0(right_hand_camera_149): { shape: cylinder, size: [0, 0, 0.01, 0.02], color: [0, 0, 1, 0.8], visual: True }
-right_hand_range_0(right_hand_range_151): { shape: box, size: [0.005, 0.02, 0.005, 0], color: [0, 0, 1, 0.8], visual: True }
-right_hand_accelerometer_0(right_hand_accelerometer_152): { shape: box, size: [0.01, 0.01, 0.01, 0], color: [0, 0, 0, 1], visual: True }
-right_gripper_base_0(right_gripper_base_153): { rel: [0, 0, 0, -7.3123e-14, 7.3123e-14, 0.707107, 0.707107], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/electric_gripper_base.ply>, visual: True }
-right_endpoint_origin(right_gripper_base_153): { rel: [0, 0, 0.1327, 1, 0, 0, 0] }
-r_gripper_l_finger_joint_origin(right_gripper_base_153): { rel: [0, -0.0015, 0.02, 1, 0, 0, 0] }
-r_gripper_r_finger_joint_origin(right_gripper_base_153): { rel: [0, 0.0015, 0.02, 1, 0, 0, 0] }
-left_hand_camera_0(left_hand_camera_154): { shape: cylinder, size: [0, 0, 0.01, 0.02], color: [0, 0, 1, 0.8], visual: True }
-left_hand_range_0(left_hand_range_156): { shape: box, size: [0.005, 0.02, 0.005, 0], color: [0, 0, 1, 0.8], visual: True }
-left_hand_accelerometer_0(left_hand_accelerometer_157): { shape: box, size: [0.01, 0.01, 0.01, 0], color: [0, 0, 0, 1], visual: True }
-left_gripper_base_0(left_gripper_base_158): { rel: [0, 0, 0, -7.3123e-14, 7.3123e-14, 0.707107, 0.707107], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/electric_gripper_base.ply>, visual: True }
-left_endpoint_origin(left_gripper_base_158): { rel: [0, 0, 0.1327, 1, 0, 0, 0] }
-l_gripper_l_finger_joint_origin(left_gripper_base_158): { rel: [0, -0.0015, 0.02, 1, 0, 0, 0] }
-l_gripper_r_finger_joint_origin(left_gripper_base_158): { rel: [0, 0.0015, 0.02, 1, 0, 0, 0] }
-right_endpoint(right_endpoint_origin): { joint: rigid }
-r_gripper_l_finger_joint(r_gripper_l_finger_joint_origin): { joint: transY, limits: [0, 0.020833, 5, -1, 20], ctrl_limits: [5, -1, 20] }
-r_gripper_r_finger_joint(r_gripper_r_finger_joint_origin): { joint: transY, limits: [-0.020833, 0, 5, -1, 20], mimic: "r_gripper_l_finger_joint", ctrl_limits: [5, -1, 20] }
-left_endpoint(left_endpoint_origin): { joint: rigid }
-l_gripper_l_finger_joint(l_gripper_l_finger_joint_origin): { joint: transY, limits: [0, 0.020833, 5, -1, 20], ctrl_limits: [5, -1, 20] }
-l_gripper_r_finger_joint(l_gripper_r_finger_joint_origin): { joint: transY, limits: [-0.020833, 0, 5, -1, 20], mimic: "l_gripper_l_finger_joint", ctrl_limits: [5, -1, 20] }
-right_gripper(right_endpoint): { mass: 0.0001, inertia: [0, 0, 0] }
-r_gripper_l_finger(r_gripper_l_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-r_gripper_r_finger(r_gripper_r_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-left_gripper(left_endpoint): { mass: 0.0001, inertia: [0, 0, 0] }
-l_gripper_l_finger(l_gripper_l_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-l_gripper_r_finger(l_gripper_r_finger_joint): { mass: 0.02, inertia: [0.01, 0.01, 0.01] }
-r_gripper_l_finger_0(r_gripper_l_finger): { rel: [0, 0, 0, -1.03412e-13, 0, 0, -1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-r_gripper_l_finger_tip_joint_origin(r_gripper_l_finger): { rel: [0, 0.01725, 0.1127, 1, 0, 0, 0] }
-r_gripper_r_finger_0(r_gripper_r_finger): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-r_gripper_r_finger_tip_joint_origin(r_gripper_r_finger): { rel: [0, -0.01725, 0.1127, 1, 0, 0, 0] }
-l_gripper_l_finger_0(l_gripper_l_finger): { rel: [0, 0, 0, -1.03412e-13, 0, 0, -1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-l_gripper_l_finger_tip_joint_origin(l_gripper_l_finger): { rel: [0, 0.01725, 0.1127, 1, 0, 0, 0] }
-l_gripper_r_finger_0(l_gripper_r_finger): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.ply>, visual: True }
-l_gripper_r_finger_tip_joint_origin(l_gripper_r_finger): { rel: [0, -0.01725, 0.1127, 1, 0, 0, 0] }
-r_gripper_l_finger_tip_joint(r_gripper_l_finger_tip_joint_origin): { joint: rigid }
-r_gripper_r_finger_tip_joint(r_gripper_r_finger_tip_joint_origin): { joint: rigid }
-l_gripper_l_finger_tip_joint(l_gripper_l_finger_tip_joint_origin): { joint: rigid }
-l_gripper_r_finger_tip_joint(l_gripper_r_finger_tip_joint_origin): { joint: rigid }
-r_gripper_l_finger_tip(r_gripper_l_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-r_gripper_r_finger_tip(r_gripper_r_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-l_gripper_l_finger_tip(l_gripper_l_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-l_gripper_r_finger_tip(l_gripper_r_finger_tip_joint): { mass: 0.01, inertia: [0.01, 0.01, 0.01] }
-r_gripper_l_finger_tip_0(r_gripper_l_finger_tip): { rel: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.ply>, visual: True }
-r_gripper_r_finger_tip_0(r_gripper_r_finger_tip): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.ply>, visual: True }
-l_gripper_l_finger_tip_0(l_gripper_l_finger_tip): { rel: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.ply>, visual: True }
-l_gripper_r_finger_tip_0(l_gripper_r_finger_tip): { shape: mesh, color: [0.8, 0.8, 0.8], mesh: <rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.ply>, visual: True }

robotic/rai-robotModels/baxter/baxter_clean3.g

@@ -1,223 +0,0 @@
-base: { }
-base>collision_head_1 (base): { Q: [0.11, 0, 0.75, 1, 0, 0, 0] }
-base>collision_head_2 (base): { Q: [0.11, 0, 0.75, 1, 0, 0, 0] }
-torso_t0 (base): { joint: rigid, ctrl_H: 1, limits: [-3.01, 3.01], ctrl_limits: [10000, 50000, 1] }
-collision_head_1 (base>collision_head_1): { joint: rigid, ctrl_H: 1 }
-collision_head_2 (base>collision_head_2): { joint: rigid, ctrl_H: 1 }
-torso (torso_t0): { mass: 35.3365, inertiaTensor: [1.84916, -0.000354, -0.154188, 1.66267, 0.003292, 0.802239] }
-torso_1 (torso_t0): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <torso/base_link.ply>, colorName: darkgray, visual: True }
-torso_0 (torso_t0): { shape: mesh, color: [0.8, 0.2, 0.2, 0.5], mesh: <torso/base_link_collision.ply>, contact: -2 }
-torso>left_torso_itb_fixed (torso_t0): { Q: "-0.08897 0.15593 0.389125 3.2758e-05 -3.2758e-05 0.707107 0.707107" }
-torso>right_torso_itb_fixed (torso_t0): { Q: [-0.08897, -0.15593, 0.389125, 0.707107, 0.707107, 0, 0] }
-torso>head_pan (torso_t0): { Q: [0.06, 0, 0.686, 0.707107, 0, -0.707107, 0] }
-torso>sonar_s0 (torso_t0): { Q: [0.0947, 0, 0.817, 0.707107, 0, -0.707107, 0] }
-torso>right_torso_arm_mount (torso_t0): { Q: [0.024645, -0.219645, 0.118588, 0.923879, 0, 0, -0.382684] }
-torso>left_torso_arm_mount (torso_t0): { Q: [0.024645, 0.219645, 0.118588, 0.923879, 0, 0, 0.382684] }
-collision_head_link_1 (collision_head_1): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-collision_head_link_1_1 (collision_head_1): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.3, 0.3, 0.3], colorName: red, visual: True }
-collision_head_link_1_0 (collision_head_1): { shape: sphere, size: [0, 0, 0, 0.22], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0.07, -0.04, 0, 1, 0, 0, 0] }
-collision_head_link_2 (collision_head_2): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-collision_head_link_2_1 (collision_head_2): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.3, 0.3, 0.3], colorName: red, visual: True }
-collision_head_link_2_0 (collision_head_2): { shape: sphere, size: [0, 0, 0, 0.22], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0.07, 0.04, 0, 1, 0, 0, 0] }
-pedestal_fixed (torso): { joint: rigid, ctrl_H: 1 }
-left_torso_itb_fixed (torso>left_torso_itb_fixed): { joint: rigid, ctrl_H: 1 }
-right_torso_itb_fixed (torso>right_torso_itb_fixed): { joint: rigid, ctrl_H: 1 }
-head_pan (torso>head_pan): { joint: hingeX, ctrl_H: 1, limits: [-1.3963, 1.3963, 10000, 50000, 1], ctrl_limits: [10000, 50000, 1] }
-sonar_s0 (torso>sonar_s0): { joint: rigid, ctrl_H: 1 }
-right_torso_arm_mount (torso>right_torso_arm_mount): { joint: rigid, ctrl_H: 1 }
-left_torso_arm_mount (torso>left_torso_arm_mount): { joint: rigid, ctrl_H: 1 }
-pedestal (pedestal_fixed): { mass: 60.864, inertiaTensor: [5.06359, 0.00103417, 0.801996, 6.08689, 0.00105311, 4.96192] }
-pedestal_1 (pedestal_fixed): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <base/PEDESTAL.ply>, colorName: darkgray, visual: True }
-pedestal_0 (pedestal_fixed): { shape: mesh, color: [0.8, 0.2, 0.2, 0.5], mesh: <base/pedestal_link_collision.ply>, contact: -2 }
-left_torso_itb (left_torso_itb_fixed): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_torso_itb (right_torso_itb_fixed): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-head (head_pan): { mass: 0.547767, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.004641, 0.000159, 0.000242, 0.003295, -0.001324, 0.003415] }
-head_1 (head_pan): { shape: mesh, color: [0.2, 0.2, 0.2, 1], mesh: <head/H0.ply>, Q: "0.00953 0 2.11609e-18 -0.707107 0 -0.707107 0", colorName: darkgray, visual: True }
-head_0 (head_pan): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-head>head_nod (head_pan): { Q: "2.72449e-17 -0 -0.1227 0.063474 -0.704252 -0.704252 0.063474" }
-head>head_camera (head_pan): { Q: [0.06368, 0, -0.12839, 0.063474, -0.704252, -0.704252, 0.063474] }
-sonar_ring (sonar_s0): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-sonar_ring_1 (sonar_s0): { shape: cylinder, size: [0, 0, 0.01, 0.085], color: [0.2, 0.2, 0.2, 1], Q: [0.00953, 0, 0.0347, -0.707107, 0, -0.707107, 0], colorName: darkgray, visual: True }
-sonar_ring_0 (sonar_s0): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-right_arm_mount (right_torso_arm_mount): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_arm_mount>right_s0 (right_torso_arm_mount): { Q: [0.055695, 0, 0.011038, 0.707107, 0, -0.707107, 0] }
-left_arm_mount (left_torso_arm_mount): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_arm_mount>left_s0 (left_torso_arm_mount): { Q: [0.055695, 0, 0.011038, 0.707107, 0, -0.707107, 0] }
-dummy (head): { joint: rigid, ctrl_H: 1 }
-head_nod (head>head_nod): { joint: rigid, ctrl_H: 1 }
-head_camera (head>head_camera): { joint: rigid, ctrl_H: 1 }
-right_s0 (right_arm_mount>right_s0): { joint: hingeX, ctrl_H: 1, limits: [-1.70168, 1.70168, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-left_s0 (left_arm_mount>left_s0): { joint: hingeX, ctrl_H: 1, limits: [-1.70168, 1.70168, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-dummyhead1 (dummy): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-screen (head_nod): { mass: 0.440171, inertiaTensor: [0.004006, 0.00023, 2e-06, 0.0028, 2.9e-05, 0.001509] }
-screen_1 (head_nod): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <head/H1.ply>, Q: [0, -0.00953, -0.0347, 1, 0, 0, 0], colorName: darkred, visual: True }
-screen_0 (head_nod): { shape: sphere, size: [0, 0, 0, 0.001], color: [0.8, 0.2, 0.2, 0.5], contact: -2 }
-screen>display_joint (head_nod): { Q: [0, -0.016, 0, 1, 0, 0, 0] }
-head_camera (head_camera): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_upper_shoulder (right_s0): { mass: 5.70044, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.047091, 0.000127876, 0.0061487, 0.0376698, 0.000780869, 0.0359599] }
-right_upper_shoulder_1 (right_s0): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <upper_shoulder/S0.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-right_upper_shoulder_0 (right_s0): { shape: cylinder, size: [0, 0, 0.2722, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.1361 0 3.02203e-17 -0.707107 0 -0.707107 0" }
-right_upper_shoulder>right_s1 (right_s0): { Q: "0.27035 0 -0.069 -0.707107 1.11022e-16 -5.55112e-17 -0.707107" }
-left_upper_shoulder (left_s0): { mass: 5.70044, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.047091, 0.000127876, 0.0061487, 0.0376698, 0.000780869, 0.0359599] }
-left_upper_shoulder_1 (left_s0): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <upper_shoulder/S0.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-left_upper_shoulder_0 (left_s0): { shape: cylinder, size: [0, 0, 0.2722, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.1361 0 3.02203e-17 -0.707107 0 -0.707107 0" }
-left_upper_shoulder>left_s1 (left_s0): { Q: "0.27035 0 -0.069 -0.707107 1.11022e-16 -5.55112e-17 -0.707107" }
-display_joint (screen>display_joint): { joint: rigid, ctrl_H: 1 }
-right_s1 (right_upper_shoulder>right_s1): { joint: hingeX, ctrl_H: 1, limits: [-2.147, 1.047, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-left_s1 (left_upper_shoulder>left_s1): { joint: hingeX, ctrl_H: 1, limits: [-2.147, 1.047, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-display (display_joint): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-display_1 (display_joint): { shape: box, size: [0.218, 0.16, 0.001, 0], color: [0, 0, 0, 1], colorName: black, visual: True }
-right_lower_shoulder (right_s1): { mass: 3.22698, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.0117521, -0.000300964, 0.00207676, 0.027886, -0.00018822, 0.0207875] }
-right_lower_shoulder_1 (right_s1): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <lower_shoulder/S1.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-right_lower_shoulder_0 (right_s1): { shape: cylinder, size: [0, 0, 0.12, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-right_lower_shoulder>right_e0 (right_s1): { Q: "2.26485e-17 -0 -0.102 -0.5 -0.5 -0.5 0.5" }
-right_lower_shoulder>right_e0_fixed (right_s1): { Q: "2.37588e-17 -0 -0.107 -0.5 -0.5 -0.5 0.5" }
-left_lower_shoulder (left_s1): { mass: 3.22698, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.0117521, -0.000300964, 0.00207676, 0.027886, -0.00018822, 0.0207875] }
-left_lower_shoulder_1 (left_s1): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <lower_shoulder/S1.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-left_lower_shoulder_0 (left_s1): { shape: cylinder, size: [0, 0, 0.12, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-left_lower_shoulder>left_e0 (left_s1): { Q: "2.26485e-17 -0 -0.102 -0.5 -0.5 -0.5 0.5" }
-left_lower_shoulder>left_e0_fixed (left_s1): { Q: "2.37588e-17 -0 -0.107 -0.5 -0.5 -0.5 0.5" }
-right_e0 (right_lower_shoulder>right_e0): { joint: hingeX, ctrl_H: 1, limits: [-3.05418, 3.05418, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-right_e0_fixed (right_lower_shoulder>right_e0_fixed): { joint: rigid, ctrl_H: 1 }
-left_e0 (left_lower_shoulder>left_e0): { joint: hingeX, ctrl_H: 1, limits: [-3.05418, 3.05418, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-left_e0_fixed (left_lower_shoulder>left_e0_fixed): { joint: rigid, ctrl_H: 1 }
-right_upper_elbow (right_e0): { mass: 4.31272, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.0266173, 0.000292706, 0.0039219, 0.0284436, 0.00108389, 0.0124801] }
-right_upper_elbow_1 (right_e0): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <upper_elbow/E0.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-right_upper_elbow_0 (right_e0): { shape: cylinder, size: [0, 0, 0.107, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.0535 -0 -1.18794e-17 -0.707107 0 -0.707107 0" }
-right_upper_elbow>right_e1 (right_e0): { Q: [0.26242, 0, -0.069, -0.5, 0.5, 0.5, -0.5] }
-right_upper_elbow_visual (right_e0_fixed): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_upper_elbow_visual_0 (right_e0_fixed): { shape: cylinder, size: [0, 0, 0.273, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.1365 0 3.03091e-17 -0.707107 0 -0.707107 0" }
-left_upper_elbow (left_e0): { mass: 4.31272, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.0266173, 0.000292706, 0.0039219, 0.0284436, 0.00108389, 0.0124801] }
-left_upper_elbow_1 (left_e0): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <upper_elbow/E0.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-left_upper_elbow_0 (left_e0): { shape: cylinder, size: [0, 0, 0.107, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.0535 -0 -1.18794e-17 -0.707107 0 -0.707107 0" }
-left_upper_elbow>left_e1 (left_e0): { Q: [0.26242, 0, -0.069, -0.5, 0.5, 0.5, -0.5] }
-left_upper_elbow_visual (left_e0_fixed): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_upper_elbow_visual_0 (left_e0_fixed): { shape: cylinder, size: [0, 0, 0.273, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.1365 0 3.03091e-17 -0.707107 0 -0.707107 0" }
-right_e1 (right_upper_elbow>right_e1): { joint: hingeX, ctrl_H: 1, limits: [-0.05, 2.618, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-left_e1 (left_upper_elbow>left_e1): { joint: hingeX, ctrl_H: 1, limits: [-0.05, 2.618, 1.5, 50, 1], ctrl_limits: [1.5, 50, 1] }
-right_lower_elbow (right_e1): { mass: 2.07206, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.00711583, 0.000360362, 0.00074595, 0.0131823, -0.000196634, 0.00926852] }
-right_lower_elbow_1 (right_e1): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <lower_elbow/E1.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-right_lower_elbow_0 (right_e1): { shape: cylinder, size: [0, 0, 0.1, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-right_lower_elbow>right_w0 (right_e1): { Q: "2.30016e-17 -0 -0.10359 -0.5 -0.5 -0.5 0.5" }
-right_lower_elbow>right_w0_fixed (right_e1): { Q: "1.95399e-17 -0 -0.088 -0.5 -0.5 -0.5 0.5" }
-left_lower_elbow (left_e1): { mass: 2.07206, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.00711583, 0.000360362, 0.00074595, 0.0131823, -0.000196634, 0.00926852] }
-left_lower_elbow_1 (left_e1): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <lower_elbow/E1.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-left_lower_elbow_0 (left_e1): { shape: cylinder, size: [0, 0, 0.1, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-left_lower_elbow>left_w0 (left_e1): { Q: "2.30016e-17 -0 -0.10359 -0.5 -0.5 -0.5 0.5" }
-left_lower_elbow>left_w0_fixed (left_e1): { Q: "1.95399e-17 -0 -0.088 -0.5 -0.5 -0.5 0.5" }
-right_w0 (right_lower_elbow>right_w0): { joint: hingeX, ctrl_H: 1, limits: [-3.059, 3.059, 4, 15, 1], ctrl_limits: [4, 15, 1] }
-right_w0_fixed (right_lower_elbow>right_w0_fixed): { joint: rigid, ctrl_H: 1 }
-left_w0 (left_lower_elbow>left_w0): { joint: hingeX, ctrl_H: 1, limits: [-3.059, 3.059, 4, 15, 1], ctrl_limits: [4, 15, 1] }
-left_w0_fixed (left_lower_elbow>left_w0_fixed): { joint: rigid, ctrl_H: 1 }
-right_upper_forearm (right_w0): { mass: 2.24665, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.0166774, 0.000184037, 0.000186576, 0.0167546, -0.000647324, 0.00374631] }
-right_upper_forearm_1 (right_w0): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <upper_forearm/W0.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-right_upper_forearm_0 (right_w0): { shape: cylinder, size: [0, 0, 0.088, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.044 -0 -9.76996e-18 -0.707107 0 -0.707107 0" }
-right_upper_forearm>right_w0_to_itb_fixed (right_w0): { Q: [0.12, 0, 0.0565, -0.5, -0.5, 0.5, -0.5] }
-right_upper_forearm>right_w1 (right_w0): { Q: [0.2707, 0, -0.01, -0.5, 0.5, 0.5, -0.5] }
-right_upper_forearm_visual (right_w0_fixed): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_upper_forearm_visual_0 (right_w0_fixed): { shape: cylinder, size: [0, 0, 0.272, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.136 0 3.01981e-17 -0.707107 0 -0.707107 0" }
-left_upper_forearm (left_w0): { mass: 2.24665, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.0166774, 0.000184037, 0.000186576, 0.0167546, -0.000647324, 0.00374631] }
-left_upper_forearm_1 (left_w0): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <upper_forearm/W0.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-left_upper_forearm_0 (left_w0): { shape: cylinder, size: [0, 0, 0.088, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.044 -0 -9.76996e-18 -0.707107 0 -0.707107 0" }
-left_upper_forearm>left_w0_to_itb_fixed (left_w0): { Q: [0.12, 0, 0.0565, -0.5, -0.5, 0.5, -0.5] }
-left_upper_forearm>left_w1 (left_w0): { Q: [0.2707, 0, -0.01, -0.5, 0.5, 0.5, -0.5] }
-left_upper_forearm_visual (left_w0_fixed): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_upper_forearm_visual_0 (left_w0_fixed): { shape: cylinder, size: [0, 0, 0.272, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.136 0 3.01981e-17 -0.707107 0 -0.707107 0" }
-right_w0_to_itb_fixed (right_upper_forearm>right_w0_to_itb_fixed): { joint: rigid, ctrl_H: 1 }
-right_w1 (right_upper_forearm>right_w1): { joint: hingeX, ctrl_H: 1, limits: [-1.5708, 2.094, 4, 15, 1], ctrl_limits: [4, 15, 1] }
-left_w0_to_itb_fixed (left_upper_forearm>left_w0_to_itb_fixed): { joint: rigid, ctrl_H: 1 }
-left_w1 (left_upper_forearm>left_w1): { joint: hingeX, ctrl_H: 1, limits: [-1.5708, 2.094, 4, 15, 1], ctrl_limits: [4, 15, 1] }
-right_arm_itb (right_w0_to_itb_fixed): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_lower_forearm (right_w1): { mass: 1.60979, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.00387607, -0.000443848, -0.00021115, 0.00700538, 0.000153481, 0.00552755] }
-right_lower_forearm_1 (right_w1): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <lower_forearm/W1.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-right_lower_forearm_0 (right_w1): { shape: cylinder, size: [0, 0, 0.1, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-right_lower_forearm>right_w2 (right_w1): { Q: "2.57516e-17 -0 -0.115975 -0.5 -0.5 -0.5 0.5" }
-left_arm_itb (left_w0_to_itb_fixed): { mass: 0.0001, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_lower_forearm (left_w1): { mass: 1.60979, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.00387607, -0.000443848, -0.00021115, 0.00700538, 0.000153481, 0.00552755] }
-left_lower_forearm_1 (left_w1): { shape: mesh, color: [0.5, 0.1, 0.1, 1], mesh: <lower_forearm/W1.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: darkred, visual: True }
-left_lower_forearm_0 (left_w1): { shape: cylinder, size: [0, 0, 0.1, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-left_lower_forearm>left_w2 (left_w1): { Q: "2.57516e-17 -0 -0.115975 -0.5 -0.5 -0.5 0.5" }
-right_w2 (right_lower_forearm>right_w2): { joint: hingeX, ctrl_H: 1, limits: [-3.059, 3.059, 4, 15, 1], ctrl_limits: [4, 15, 1] }
-left_w2 (left_lower_forearm>left_w2): { joint: hingeX, ctrl_H: 1, limits: [-3.059, 3.059, 4, 15, 1], ctrl_limits: [4, 15, 1] }
-right_wrist (right_w2): { mass: 0.35093, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.000252892, 5.75311e-06, -1.59345e-06, 0.00026886, -5.19818e-06, 0.000307412] }
-right_wrist_1 (right_w2): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <wrist/W2.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: lightgrey, visual: True }
-right_wrist_0 (right_w2): { shape: cylinder, size: [0, 0, 0.165, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-right_wrist>right_hand (right_w2): { Q: "0.11355 0 2.52132e-17 -1 0 0 0" }
-left_wrist (left_w2): { mass: 0.35093, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.000252892, 5.75311e-06, -1.59345e-06, 0.00026886, -5.19818e-06, 0.000307412] }
-left_wrist_1 (left_w2): { shape: mesh, color: [0.1, 0.1, 0.1, 1], mesh: <wrist/W2.ply>, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], colorName: lightgrey, visual: True }
-left_wrist_0 (left_w2): { shape: cylinder, size: [0, 0, 0.165, 0.06], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0] }
-left_wrist>left_hand (left_w2): { Q: "0.11355 0 2.52132e-17 -1 0 0 0" }
-right_hand (right_wrist>right_hand): { joint: rigid, ctrl_H: 1 }
-left_hand (left_wrist>left_hand): { joint: rigid, ctrl_H: 1 }
-right_hand (right_hand): { mass: 0.19125, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.00017588, 1.47073e-06, 2.43633e-05, 0.000211664, 1.72689e-06, 0.000237454] }
-right_hand_0 (right_hand): { shape: cylinder, size: [0, 0, 0.0464, 0.04], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.0232 -0 -5.15143e-18 -0.707107 0 -0.707107 0" }
-right_hand>right_hand_camera (right_hand): { Q: [0.015355, 0.012, -0.03825, -0.5, 0.5, -0.5, 0.5] }
-right_hand>right_hand_camera_axis (right_hand): { Q: [0.015355, 0.012, -0.03825, -0.707107, 0, -0.707107, 0] }
-right_hand>right_hand_range (right_hand): { Q: "0.0288 -0.020245 -0.032 -0.707107 0.707107 -1.73112e-12 1.73128e-12" }
-right_hand>right_hand_accelerometer (right_hand): { Q: [-0.0146, 0.000133, -0.00198, -0.707107, 0, -0.707107, 0] }
-right_hand>right_gripper_base (right_hand): { Q: "0.025 0 5.55112e-18 -0.707107 0 -0.707107 0" }
-left_hand (left_hand): { mass: 0.19125, Q: [-0, -0, -0, -0.707107, 0, -0.707107, 0], inertiaTensor: [0.00017588, 1.47073e-06, 2.43633e-05, 0.000211664, 1.72689e-06, 0.000237454] }
-left_hand_0 (left_hand): { shape: cylinder, size: [0, 0, 0.0464, 0.04], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.0232 -0 -5.15143e-18 -0.707107 0 -0.707107 0" }
-left_hand>left_hand_camera (left_hand): { Q: [0.015355, 0.012, -0.03825, -0.5, 0.5, -0.5, 0.5] }
-left_hand>left_hand_camera_axis (left_hand): { Q: [0.015355, 0.012, -0.03825, -0.707107, 0, -0.707107, 0] }
-left_hand>left_hand_range (left_hand): { Q: "0.0288 -0.020245 -0.032 -0.707107 0.707107 -1.73112e-12 1.73128e-12" }
-left_hand>left_hand_accelerometer (left_hand): { Q: [-0.0146, 0.000133, -0.00198, -0.707107, 0, -0.707107, 0] }
-right_hand_camera (right_hand>right_hand_camera): { joint: rigid, ctrl_H: 1 }
-right_hand_camera_axis (right_hand>right_hand_camera_axis): { joint: rigid, ctrl_H: 1 }
-right_hand_range (right_hand>right_hand_range): { joint: rigid, ctrl_H: 1 }
-right_hand_accelerometer (right_hand>right_hand_accelerometer): { joint: rigid, ctrl_H: 1 }
-right_gripper_base (right_hand>right_gripper_base): { joint: rigid, ctrl_H: 1 }
-left_gripper_base (left_hand): { joint: rigid, ctrl_H: 1 }
-left_hand_camera (left_hand>left_hand_camera): { joint: rigid, ctrl_H: 1 }
-left_hand_camera_axis (left_hand>left_hand_camera_axis): { joint: rigid, ctrl_H: 1 }
-left_hand_range (left_hand>left_hand_range): { joint: rigid, ctrl_H: 1 }
-left_hand_accelerometer (left_hand>left_hand_accelerometer): { joint: rigid, ctrl_H: 1 }
-right_hand_camera (right_hand_camera): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_hand_camera_1 (right_hand_camera): { shape: cylinder, size: [0, 0, 0.01, 0.02], color: [0, 0, 1, 0.8], colorName: blue, visual: True }
-right_hand_camera_axis (right_hand_camera_axis): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_hand_range (right_hand_range): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_hand_range_1 (right_hand_range): { shape: box, size: [0.005, 0.02, 0.005, 0], color: [0, 0, 1, 0.8], colorName: blue, visual: True }
-right_hand_accelerometer (right_hand_accelerometer): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-right_hand_accelerometer_1 (right_hand_accelerometer): { shape: box, size: [0.01, 0.01, 0.01, 0], color: [0, 0, 0, 1], colorName: black, visual: True }
-right_gripper_base (right_gripper_base): { mass: 0.3, inertiaTensor: [2e-08, 0, 0, 3e-08, 0, 2e-08] }
-right_gripper_base_1 (right_gripper_base): { shape: mesh, mesh: <electric_gripper/electric_gripper_base.ply>, visual: True }
-right_gripper_base_0 (right_gripper_base): { shape: cylinder, size: [0, 0, 0.1, 0.029], color: [0.8, 0.2, 0.2, 0.5], contact: -2, colorName: darkred }
-right_gripper_base>right_endpoint (right_gripper_base): { Q: [0, 0, 0.1327, 1, 0, 0, 0] }
-right_gripper_base>r_gripper_l_finger_joint (right_gripper_base): { Q: [0, -0.0015, 0.02, 0.707107, 0, 0, 0.707107] }
-right_gripper_base>r_gripper_r_finger_joint (right_gripper_base): { Q: [0, 0.0015, 0.02, 0.707107, 0, 0, 0.707107] }
-left_gripper_base (left_gripper_base): { mass: 0.3, inertiaTensor: [2e-08, 0, 0, 3e-08, 0, 2e-08] }
-left_gripper_base_1 (left_gripper_base): { shape: mesh, mesh: <pneumatic_gripper/pneumatic_gripper_w_cup.ply>, visual: True }
-left_gripper_base_0 (left_gripper_base): { shape: cylinder, size: [0, 0, 0.08, 0.02], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [0, 0, 0.04, 1, 0, 0, 0], colorName: darkred }
-left_gripper_base>left_endpoint (left_gripper_base): { Q: [0, 0, 0.08, 1, 0, 0, 0] }
-left_hand_camera (left_hand_camera): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_hand_camera_1 (left_hand_camera): { shape: cylinder, size: [0, 0, 0.01, 0.02], color: [0, 0, 1, 0.8], colorName: blue, visual: True }
-left_hand_camera_axis (left_hand_camera_axis): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_hand_range (left_hand_range): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_hand_range_1 (left_hand_range): { shape: box, size: [0.005, 0.02, 0.005, 0], color: [0, 0, 1, 0.8], colorName: blue, visual: True }
-left_hand_accelerometer (left_hand_accelerometer): { mass: 0.0001, inertiaTensor: [1e-08, 0, 0, 1e-08, 0, 1e-08] }
-left_hand_accelerometer_1 (left_hand_accelerometer): { shape: box, size: [0.01, 0.01, 0.01, 0], color: [0, 0, 0, 1], colorName: black, visual: True }
-right_endpoint (right_gripper_base>right_endpoint): { joint: rigid, ctrl_H: 1 }
-r_gripper_l_finger_joint (right_gripper_base>r_gripper_l_finger_joint): { joint: transX, ctrl_H: 1, limits: [0, 0.020833, 5, 20, 1], ctrl_limits: [5, 20, 1] }
-r_gripper_r_finger_joint (right_gripper_base>r_gripper_r_finger_joint): { joint: transX, ctrl_H: 1, limits: [-0.020833, 0, 5, 20, 1], mimic:(r_gripper_l_finger_joint), ctrl_limits: [5, 20, 1] }
-left_endpoint (left_gripper_base>left_endpoint): { joint: rigid, ctrl_H: 1 }
-right_gripper (right_endpoint): { mass: 0.0001, inertiaTensor: [0, 0, 0, 0, 0, 0] }
-r_gripper_l_finger (r_gripper_l_finger_joint): { mass: 0.02, Q: [-0, -0, -0, -0.707107, 0, 0, 0.707107], inertiaTensor: [0.01, 0, 0, 0.01, 0, 0.01] }
-r_gripper_l_finger_1 (r_gripper_l_finger_joint): { shape: mesh, mesh: <electric_gripper/fingers/extended_narrow.ply>, Q: [-0, -0, -0, -0.707107, 0, 0, 0.707107], visual: True }
-r_gripper_l_finger_0 (r_gripper_l_finger_joint): { shape: box, size: [0.01, 0.0135, 0.1127, 0], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "0.01725 3.83027e-18 0.0615 -0.707107 0 0 0.707107" }
-r_gripper_l_finger_0 (r_gripper_l_finger_joint): { shape: box, size: [0.01, 0.05, 0.017, 0], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [-0.003, 0.005, 0.0083, -0.707107, 0, 0, 0.707107] }
-r_gripper_l_finger>r_gripper_l_finger_tip_joint (r_gripper_l_finger_joint): { Q: "0.01725 3.83027e-18 0.1127 -0.707107 0 0 0.707107" }
-r_gripper_r_finger (r_gripper_r_finger_joint): { mass: 0.02, Q: [-0, -0, -0, -0.707107, 0, 0, 0.707107], inertiaTensor: [0.01, 0, 0, 0.01, 0, 0.01] }
-r_gripper_r_finger_1 (r_gripper_r_finger_joint): { shape: mesh, mesh: <electric_gripper/fingers/extended_narrow.ply>, Q: [-0, -0, -0, -0.707107, 0, 0, 0.707107], visual: True }
-r_gripper_r_finger_0 (r_gripper_r_finger_joint): { shape: box, size: [0.01, 0.0135, 0.1127, 0], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: "-0.01725 -3.83027e-18 0.0615 -0.707107 0 0 0.707107" }
-r_gripper_r_finger_0 (r_gripper_r_finger_joint): { shape: box, size: [0.01, 0.05, 0.017, 0], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [0.003, -0.005, 0.0083, -0.707107, 0, 0, 0.707107] }
-r_gripper_r_finger>r_gripper_r_finger_tip_joint (r_gripper_r_finger_joint): { Q: "-0.01725 -3.83027e-18 0.1127 -0.707107 0 0 0.707107" }
-left_gripper (left_endpoint): { mass: 0.0001, inertiaTensor: [0, 0, 0, 0, 0, 0] }
-r_gripper_l_finger_tip_joint (r_gripper_l_finger>r_gripper_l_finger_tip_joint): { joint: rigid, ctrl_H: 1 }
-r_gripper_r_finger_tip_joint (r_gripper_r_finger>r_gripper_r_finger_tip_joint): { joint: rigid, ctrl_H: 1 }
-r_gripper_l_finger_tip (r_gripper_l_finger_tip_joint): { mass: 0.01, inertiaTensor: [0.01, 0, 0, 0.01, 0, 0.01] }
-r_gripper_l_finger_tip_1 (r_gripper_l_finger_tip_joint): { shape: mesh, mesh: <electric_gripper/fingers/half_round_tip.ply>, visual: True }
-r_gripper_l_finger_tip_0 (r_gripper_l_finger_tip_joint): { shape: cylinder, size: [0, 0, 0.037, 0.008], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [0, -0.0045, -0.015, 1, 0, 0, 0] }
-r_gripper_r_finger_tip (r_gripper_r_finger_tip_joint): { mass: 0.01, inertiaTensor: [0.01, 0, 0, 0.01, 0, 0.01] }
-r_gripper_r_finger_tip_1 (r_gripper_r_finger_tip_joint): { shape: mesh, mesh: <electric_gripper/fingers/half_round_tip.ply>, visual: True }
-r_gripper_r_finger_tip_0 (r_gripper_r_finger_tip_joint): { shape: cylinder, size: [0, 0, 0.037, 0.008], color: [0.8, 0.2, 0.2, 0.5], contact: -2, Q: [0, 0.0045, -0.015, 1, 0, 0, 0] }
-