robotic 0.2.9.dev1__cp311-cp311-manylinux2014_x86_64.whl → 0.3.4.dev5__cp311-cp311-manylinux2014_x86_64.whl

robotic/rai-robotModels/objects/shelf.g

@@ -10,6 +10,6 @@ shelf: { X: "t(1. 1. 0) d(120 0 0 1)" fixed }
 (shelf): { shape: ssBox, color: [0, .3, .7], Q: "T t(0 0 1.5)", size: [.6, 1., .1, .02], contact }
 (shelf): { shape: ssBox, color: [0, .3, .7], Q: "T t(0 0 1.95)", size: [.6, 1., .1, .02], contact }
 
-target(shelf): { shape: sphere, color: [1., 0., 0.], Q: "T t(0 0 1.25)", size: [0, 0, 0, .07] }
+target(shelf): { shape: sphere, color: [1., 0., 0.], Q: "T t(0 0 1.25)", size: [.07] }
 
 

robotic/rai-robotModels/panda/panda.g

@@ -1,7 +1,7 @@
 ## create standard base frame before including
 
 panda_base: { multibody: true, multibody_gravity: false }
-Include: <panda_clean.g>
+Include: <panda_arm_hand_conv.yml>
 Edit panda_link0(panda_base): {}
 
 ## simpler collision models
@@ -32,15 +32,15 @@ panda_coll7(panda_joint7): { shape: capsule, color: [1.,1.,1.,.1], size: [.1, .0
 
 ## zero position
 
-Edit panda_joint1: { q: 0.0 }
-Edit panda_joint2: { q: -.5 }
-Edit panda_joint3: { q: 0. }
-Edit panda_joint4: { q: -2. }
-Edit panda_joint5: { q: -0. }
-Edit panda_joint6: { q: 2., limits: [.5, 3.] }
-Edit panda_joint7: { q: -.5 }
-Edit panda_finger_joint1: { q: .04 }
-Edit panda_finger_joint2: { q: .04 }
+Edit panda_joint1: { q: 0.0, mj_actuator_kp: "870.", mj_joint_damping: "100." }
+Edit panda_joint2: { q: -.5, mj_actuator_kp: "870.", mj_joint_damping: "100." }
+Edit panda_joint3: { q: 0., mj_actuator_kp: "870.", mj_joint_damping: "100." }
+Edit panda_joint4: { q: -2., mj_actuator_kp: "870.", mj_joint_damping: "100." }
+Edit panda_joint5: { q: -0., mj_actuator_kp: "120.", mj_joint_damping: "10." }
+Edit panda_joint6: { q: 2., limits: [.5, 3.], mj_actuator_kp: "120.", mj_joint_damping: "10." }
+Edit panda_joint7: { q: -.5, mj_actuator_kp: "120.", mj_joint_damping: "10." }
+Edit panda_finger_joint1: { q: .04, mj_actuator_kp: "500.", mj_joint_damping: "100." }
+Edit panda_finger_joint2: { q: .04, mj_actuator_kp: "500.", mj_joint_damping: "100." }
 
 ## kill rigid hand joints
 

robotic/rai-robotModels/panda/panda_arm_hand_conv.g

@@ -0,0 +1,24 @@
+panda_link0: { shape: mesh, mesh: <meshes/link0.h5> },
+panda_joint1_origin(panda_link0): { pose: [0, 0, 0.333] },
+panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link1.h5> },
+panda_joint2_origin(panda_joint1): { pose: [0.707107, -0.707107, 0, 0] },
+panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link2.h5> },
+panda_joint3_origin(panda_joint2): { pose: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5> },
+panda_joint4_origin(panda_joint3): { pose: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5> },
+panda_joint5_origin(panda_joint4): { pose: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5> },
+panda_joint6_origin(panda_joint5): { pose: [0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5> },
+panda_joint7_origin(panda_joint6): { pose: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5> },
+panda_joint8_origin(panda_joint7): { pose: [0, 0, 0.107] },
+panda_joint8(panda_joint8_origin): { joint: rigid },
+panda_hand_joint_origin(panda_joint8): { pose: [0.92388, 0, 0, -0.382683] },
+panda_hand_joint(panda_hand_joint_origin): { joint: rigid, shape: mesh, mesh: <meshes/hand.h5> },
+panda_finger_joint1_origin(panda_hand_joint): { pose: [0, 0, 0.0584] },
+panda_finger_joint2_origin(panda_hand_joint): { pose: [0, 0, 0.0584] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5> },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1" },
+panda_rightfinger_0(panda_finger_joint2): { pose: [-1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }

robotic/rai-robotModels/panda/panda_arm_hand_conv.yml

@@ -0,0 +1,24 @@
+panda_link0: {shape: mesh, mesh: <meshes/link0.h5>}
+panda_joint1_origin (panda_link0): {pose: [0.0, 0.0, 0.333]}
+panda_joint1 (panda_joint1_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1.0, 1.0, 1.0, 1.0], mesh: <meshes/link1.h5>}
+panda_joint2_origin (panda_joint1): {pose: [0.7071067811882787, -0.7071067811848163, 0.0, 0.0]}
+panda_joint2 (panda_joint2_origin): {joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1.0, 1.0, 1.0, 1.0], mesh: <meshes/link2.h5>}
+panda_joint3_origin (panda_joint2): {pose: [0.0, -0.316, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint3 (panda_joint3_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>}
+panda_joint4_origin (panda_joint3): {pose: [0.0825, 0.0, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint4 (panda_joint4_origin): {joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>}
+panda_joint5_origin (panda_joint4): {pose: [-0.0825, 0.384, 0.0, 0.7071067811882787, -0.7071067811848163, 0.0, 0.0]}
+panda_joint5 (panda_joint5_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>}
+panda_joint6_origin (panda_joint5): {pose: [0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint6 (panda_joint6_origin): {joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>}
+panda_joint7_origin (panda_joint6): {pose: [0.088, 0.0, 0.0, 0.7071067811882787, 0.7071067811848163, 0.0, 0.0]}
+panda_joint7 (panda_joint7_origin): {joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>}
+panda_joint8_origin (panda_joint7): {pose: [0.0, 0.0, 0.107]}
+panda_joint8 (panda_joint8_origin): {joint: rigid}
+panda_hand_joint_origin (panda_joint8): {pose: [0.9238795325113726, 0.0, 0.0, -0.38268343236488267]}
+panda_hand_joint (panda_hand_joint_origin): {joint: rigid, shape: mesh, mesh: <meshes/hand.h5>}
+panda_finger_joint1_origin (panda_hand_joint): {pose: [0.0, 0.0, 0.0584]}
+panda_finger_joint2_origin (panda_hand_joint): {pose: [0.0, 0.0, 0.0584]}
+panda_finger_joint1 (panda_finger_joint1_origin): {joint: transY, limits: [0.0, 0.04], shape: mesh, mesh: <meshes/finger.h5>}
+panda_finger_joint2 (panda_finger_joint2_origin): {joint: transY, joint_scale: -1.0, limits: [0.0, 0.04], mimic: panda_finger_joint1}
+panda_rightfinger_0 (panda_finger_joint2): {pose: [-1.0341155355510722e-13, 0.0, 0.0, 1.0], shape: mesh, mesh: <meshes/finger.h5>}

robotic/rai-robotModels/panda/panda_clean.g

@@ -1,45 +1,21 @@
-panda_link0: {  }
-panda_link0_0(panda_link0): { shape: mesh, mesh: <franka_description/meshes/visual/link0.ply>, mass: 1., visual: True }
-panda_joint1_origin(panda_link0): { rel: [0, 0, 0.333, 1, 0, 0, 0] }
-panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link1(panda_joint1): {  }
-panda_link1_0(panda_link1): { shape: mesh, mesh: <franka_description/meshes/visual/link1.ply>, mass: 1., visual: True }
-panda_joint2_origin(panda_link1): { rel: [0, 0, 0, 0.707107, -0.707107, 0, 0] }
-panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link2(panda_joint2): {  }
-panda_link2_0(panda_link2): { shape: mesh, mesh: <franka_description/meshes/visual/link2.ply>, mass: 1., visual: True }
-panda_joint3_origin(panda_link2): { rel: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link3(panda_joint3): {  }
-panda_link3_0(panda_link3): { shape: mesh, mesh: <franka_description/meshes/visual/link3.ply>, mass: 1., visual: True }
-panda_joint4_origin(panda_link3): { rel: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698, 2.175, -1, 87], ctrl_limits: [2.175, -1, 87] }
-panda_link4(panda_joint4): {  }
-panda_link4_0(panda_link4): { shape: mesh, mesh: <franka_description/meshes/visual/link4.ply>, mass: 1., visual: True }
-panda_joint5_origin(panda_link4): { rel: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] }
-panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link5(panda_joint5): {  }
-panda_link5_0(panda_link5): { shape: mesh, mesh: <franka_description/meshes/visual/link5.ply>, mass: 1., visual: True }
-panda_joint6_origin(panda_link5): { rel: [0, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link6(panda_joint6): {  }
-panda_link6_0(panda_link6): { shape: mesh, mesh: <franka_description/meshes/visual/link6.ply>, mass: 1., visual: True }
-panda_joint7_origin(panda_link6): { rel: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] }
-panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973, 2.61, -1, 12], ctrl_limits: [2.61, -1, 12] }
-panda_link7(panda_joint7): {  }
-panda_link7_0(panda_link7): { shape: mesh, mesh: <franka_description/meshes/visual/link7.ply>, mass: 1., visual: True }
-panda_joint8_origin(panda_link7): { rel: [0, 0, 0.107, 1, 0, 0, 0] }
-panda_joint8(panda_joint8_origin): { joint: rigid }
-panda_link8(panda_joint8): {  }
-panda_hand_joint_origin(panda_link8): { rel: [0, 0, 0, 0.92388, 0, 0, -0.382683] }
-panda_hand_joint(panda_hand_joint_origin): { joint: rigid }
-panda_hand(panda_hand_joint): {  }
-panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, mass: .1, visual: True }
-panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
-panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
-panda_leftfinger(panda_finger_joint1): {  }
-panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, mass: .05, visual: True }
+panda_link0: { shape: mesh, mesh: <meshes/link0.h5> },
+panda_joint1_origin(panda_link0): { Q: [0, 0, 0.333] },
+panda_joint1(panda_joint1_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link1.h5>, mass: 0.54041, inertia: [0.00456315, -4.84504e-08, 2.96537e-08, 0.00410729, 0.000986596, 0.00188739] },
+panda_joint2_origin(panda_joint1): { Q: [0, 0, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint2(panda_joint2_origin): { joint: hingeZ, limits: [-1.7628, 1.7628], shape: mesh, color: [1, 1, 1, 1], mesh: <meshes/link2.h5>, mass: 0.5439, inertia: [0.00464633, 9.63904e-08, 7.04706e-08, 0.00190105, -0.0010021, 0.00418737] },
+panda_joint3_origin(panda_joint2): { Q: [0, -0.316, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint3(panda_joint3_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link3.h5>, mass: 0.546829, inertia: [0.00249312, -0.00055264, -0.000819764, 0.0029029, -0.000540692, 0.00252334] },
+panda_joint4_origin(panda_joint3): { Q: [0.0825, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint4(panda_joint4_origin): { joint: hingeZ, limits: [-3.0718, -0.0698], shape: mesh, mesh: <meshes/link4.h5>, mass: 0.552034, inertia: [0.0025711, 0.000847668, -0.000560078, 0.0025553, 0.000559278, 0.0029871] },
+panda_joint5_origin(panda_joint4): { Q: [-0.0825, 0.384, 0, 0.707107, -0.707107, 0, 0] },
+panda_joint5(panda_joint5_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link5.h5>, mass: 0.660947, inertia: [0.00852046, 2.33154e-06, -4.3629e-07, 0.00765386, -0.00177651, 0.00209357] },
+panda_joint6_origin(panda_joint5): { Q: [0, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint6(panda_joint6_origin): { joint: hingeZ, limits: [-0.0175, 3.7525], shape: mesh, mesh: <meshes/link6.h5>, mass: 0.499248, inertia: [0.00118729, -3.51299e-05, 0.000161884, 0.00164794, 7.03151e-06, 0.00209417] },
+panda_joint7_origin(panda_joint6): { Q: [0.088, 0, 0, 0.707107, 0.707107, 0, 0] },
+panda_joint7(panda_joint7_origin): { joint: hingeZ, limits: [-2.8973, 2.8973], shape: mesh, mesh: <meshes/link7.h5>, mass: 0.508784, com: [0.00479185, 0.00293889, 0.110289], inertia: [0.00140377, -0.000585627, 3.48228e-05, 0.0013959, 5.49295e-05, 0.0015899] },
+panda_hand_0(panda_joint7): { Q: [0, 0, 0.107, 0.92388, 0, 0, -0.382683], shape: mesh, mesh: <meshes/hand.h5> },
+panda_finger_joint1_origin(panda_joint7): { Q: [0, 0, 0.1654, 0.92388, 0, 0, -0.382683] },
+panda_finger_joint2_origin(panda_joint7): { Q: [0, 0, 0.1654, 0.92388, 0, 0, -0.382683] },
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04], shape: mesh, mesh: <meshes/finger.h5>, mass: 0.0339598, inertia: [1.28954e-05, 3.94979e-10, 2.1346e-10, 1.25171e-05, 2.56044e-06, 3.22803e-06] },
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04], mimic: "panda_finger_joint1", mass: 0.0339598, com: [-7.21322e-07, 0.0122672, 0.0270327], inertia: [1.28954e-05, 3.94979e-10, -2.1346e-10, 1.25171e-05, -2.56044e-06, 3.22803e-06] },
+panda_rightfinger_0(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5> }

robotic/rai-robotModels/panda/panda_gripper.g

@@ -1,10 +1,8 @@
 panda_hand: {  }
-panda_hand_0(panda_hand): { shape: mesh, mesh: <franka_description/meshes/visual/hand.ply>, visual: True }
+panda_hand_0(panda_hand): { shape: mesh, mesh: <meshes/hand.h5>, visual: True }
 panda_finger_joint1_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
 panda_finger_joint2_origin(panda_hand): { Q: [0, 0, 0.0584, 1, 0, 0, 0] }
-panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20] }
-panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20] }
-panda_leftfinger(panda_finger_joint1): {  }
-panda_rightfinger(panda_finger_joint2): {  }
-panda_leftfinger_0(panda_leftfinger): { shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, visual: True }
-panda_rightfinger_0(panda_rightfinger): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <franka_description/meshes/visual/finger.ply>, visual: True }
+panda_finger_joint1(panda_finger_joint1_origin): { joint: transY, limits: [0, 0.04, 0.2, -1, 20], ctrl_limits: [0.2, -1, 20], motorKp=100, motorKd=10 }
+panda_finger_joint2(panda_finger_joint2_origin): { joint: transY, joint_scale: -1, limits: [0, 0.04, 0.2, -1, 20], mimic: "panda_finger_joint1", ctrl_limits: [0.2, -1, 20], motorKp=100, motorKd=10 }
+panda_leftfinger(panda_finger_joint1): { shape: mesh, mesh: <meshes/finger.h5>, visual: True, mass: .05 }
+panda_rightfinger(panda_finger_joint2): { Q: [0, 0, 0, -1.03412e-13, 0, 0, 1], shape: mesh, mesh: <meshes/finger.h5>, visual: True, mass: .05 }

robotic/rai-robotModels/panda/panda_withoutCollisionModels.g

@@ -1,13 +1,5 @@
 Include: <panda_clean.g>
 
-Delete panda_link0_0:
-Delete panda_link1_0:
-Delete panda_link2_0:
-Delete panda_link3_0:
-Delete panda_link4_0:
-Delete panda_link5_0:
-Delete panda_link6_0:
-Delete panda_link7_0:
-Delete panda_hand_0:
-Delete panda_leftfinger_0:
-Delete panda_rightfinger_0:
+Delete: panda_hand_0
+#Delete: panda_leftfinger_0
+Delete: panda_rightfinger_0

robotic/rai-robotModels/pr2/pr2.g

@@ -1,19 +1,19 @@
 world: {}
-worldTranslationRotation (world): { joint: transXYPhi, Q: "d(90 0 0 1)", gains: [1, 1], limits: [-10, -10, -6, 10, 10, 6], ctrl_limits: [1, 1, 1], ctrl_H: 10, base }
+worldTranslationRotation (world): { joint: transXYPhi, Q: "d(90 0 0 1)", gains: [1, 1], limits: [-10, -10, -6, 10, 10, 6], ctrl_H: 10, base }
 
-Include: <pr2_clean.g>
+Include: <pr2_conv.g>
 
 Edit base_footprint (worldTranslationRotation): { Q: [0, 0, .05] }
 
 #alternative collision shapes
 coll_base (base_footprint): { shape: ssBox, Q: [0, 0, 0.12], size: [0.7, 0.7, 0.36, 0.1], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
 coll_torso (base_footprint): { shape: ssBox, Q: [-0.13, 0, 0.6], size: [0.45, 0.7, 1.1, 0.1], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_arm_r (r_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -4, coll_pr2, color: [1.,1.,1.,.2] }
-coll_wrist_r (r_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_hand_r (r_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_arm_l (l_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -4, coll_pr2, color: [1.,1.,1.,.2] }
-coll_wrist_l (l_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
-coll_hand_l (l_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -2, coll_pr2, color: [1.,1.,1.,.2] }
+coll_arm_r (r_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -5, coll_pr2, color: [1.,1.,1.,.2] }
+coll_wrist_r (r_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
+coll_hand_r (r_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
+coll_arm_l (l_upper_arm_roll_joint): { shape: ssBox, Q: [0.221337, 0, 0], size: [0.55, 0.2, 0.2, 0.1], contact: -5, coll_pr2, color: [1.,1.,1.,.2] }
+coll_wrist_l (l_forearm_roll_joint): { shape: ssBox, Q: [0.21, 0, 0, 0.999391, 0, 0.0348995, 0], size: [0.35, 0.14, 0.14, 0.07], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
+coll_hand_l (l_wrist_roll_joint): { shape: ssBox, Q: [0.12, 0, 0], size: [0.16, 0.12, 0.06, 0.025], contact: -3, coll_pr2, color: [1.,1.,1.,.2] }
 
 Edit fl_caster_rotation_joint: { joint: none }
 Edit fr_caster_rotation_joint: { joint: none }
@@ -28,10 +28,10 @@ Edit bl_caster_r_wheel_joint: { joint: none }
 Edit br_caster_l_wheel_joint: { joint: none }
 Edit br_caster_r_wheel_joint: { joint: none }
 
-#Delete l_gripper_r_parallel_link_1: {}:
-#Delete l_gripper_l_parallel_link_1: {}:
-#Delete r_gripper_r_parallel_link_1: {}:
-#Delete r_gripper_l_parallel_link_1: {}:
+#Delete: l_gripper_r_parallel_link_1
+#Delete: l_gripper_l_parallel_link_1
+#Delete: r_gripper_r_parallel_link_1
+#Delete: r_gripper_l_parallel_link_1
 
 Edit r_gripper_l_finger_joint: { q: .1 }
 Edit l_gripper_l_finger_joint: { q: .1 }