sscbirrt-assets 1.0.0__tar.gz

sscbirrt_assets-1.0.0/.gitignore

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+src/sscbirrt_assets/menagerie/

sscbirrt_assets-1.0.0/LICENSE

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+MIT License
+
+Copyright (c) 2025 Siddhartha Srinivasa <siddhartha.srinivasa@gmail.com>
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

sscbirrt_assets-1.0.0/PKG-INFO

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+Metadata-Version: 2.5
+Name: sscbirrt-assets
+Version: 1.0.0
+Summary: The MuJoCo Menagerie UR5e and Robotiq 2F-85 models, packaged for the sscbirrt demos
+Project-URL: Homepage, https://github.com/personalrobotics/sscbirrt
+Project-URL: Source, https://github.com/personalrobotics/sscbirrt/tree/main/assets
+Project-URL: Upstream, https://github.com/google-deepmind/mujoco_menagerie
+Author-email: Siddhartha Srinivasa <siddhartha.srinivasa@gmail.com>
+License-Expression: MIT AND BSD-3-Clause AND BSD-2-Clause
+License-File: LICENSE
+Keywords: mujoco,robot-models,robotiq,sscbirrt,ur5e
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+
+# sscbirrt-assets
+
+The [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie) UR5e and Robotiq 2F-85 models, packaged so that `pip install "sscbirrt[demo]"` can run the [sscbirrt](https://github.com/personalrobotics/sscbirrt) demos without cloning the Menagerie.
+
+```python
+import sscbirrt_assets
+
+sscbirrt_assets.ur5e_xml()          # .../menagerie/universal_robots_ur5e/ur5e.xml
+sscbirrt_assets.robotiq_2f85_xml()  # .../menagerie/robotiq_2f85/2f85.xml
+sscbirrt_assets.menagerie_path()    # a directory laid out like a Menagerie clone
+```
+
+The functions return real file paths, since MJCF loaders resolve meshes relative to the XML.
+
+## Provenance and licenses
+
+Each file is copied unmodified from Menagerie at the commit in `sscbirrt_assets.MENAGERIE_COMMIT` and checked against the SHA-256 in `manifest.json`. Only the MJCF, the meshes and the LICENSE of each model ship.
+
+- UR5e: BSD-3-Clause, Copyright 2018 ROS Industrial Consortium
+- Robotiq 2F-85: BSD-2-Clause, Copyright (c) 2013, ROS-Industrial
+- The Python code in this package: MIT
+
+## Building
+
+`fetch.py` places the files. The build hook calls it, so `uv build assets` works on its own. Pass `python assets/fetch.py --from <clone>` to copy from a local Menagerie clone instead of downloading. Either way the hashes are checked. After moving the pin, regenerate the manifest with `--write-manifest --from <clone>`.

sscbirrt_assets-1.0.0/README.md

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+# sscbirrt-assets
+
+The [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie) UR5e and Robotiq 2F-85 models, packaged so that `pip install "sscbirrt[demo]"` can run the [sscbirrt](https://github.com/personalrobotics/sscbirrt) demos without cloning the Menagerie.
+
+```python
+import sscbirrt_assets
+
+sscbirrt_assets.ur5e_xml()          # .../menagerie/universal_robots_ur5e/ur5e.xml
+sscbirrt_assets.robotiq_2f85_xml()  # .../menagerie/robotiq_2f85/2f85.xml
+sscbirrt_assets.menagerie_path()    # a directory laid out like a Menagerie clone
+```
+
+The functions return real file paths, since MJCF loaders resolve meshes relative to the XML.
+
+## Provenance and licenses
+
+Each file is copied unmodified from Menagerie at the commit in `sscbirrt_assets.MENAGERIE_COMMIT` and checked against the SHA-256 in `manifest.json`. Only the MJCF, the meshes and the LICENSE of each model ship.
+
+- UR5e: BSD-3-Clause, Copyright 2018 ROS Industrial Consortium
+- Robotiq 2F-85: BSD-2-Clause, Copyright (c) 2013, ROS-Industrial
+- The Python code in this package: MIT
+
+## Building
+
+`fetch.py` places the files. The build hook calls it, so `uv build assets` works on its own. Pass `python assets/fetch.py --from <clone>` to copy from a local Menagerie clone instead of downloading. Either way the hashes are checked. After moving the pin, regenerate the manifest with `--write-manifest --from <clone>`.

sscbirrt_assets-1.0.0/fetch.py

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+# SPDX-License-Identifier: MIT
+# Copyright (c) 2025 Siddhartha Srinivasa
+
+"""Fetch the menagerie files sscbirrt-assets ships, pinned by commit and checked by SHA-256.
+
+The files are not committed; they are copied into ``src/sscbirrt_assets/menagerie/`` at build time
+(``hatch_build.py`` calls :func:`fetch`). ``manifest.json`` is the contract: the upstream commit and
+the SHA-256 of every file. Any mismatch aborts the build.
+
+    python assets/fetch.py                           # download from GitHub at the pinned commit
+    python assets/fetch.py --from ~/mujoco_menagerie # copy from a local clone (hashes still checked)
+    python assets/fetch.py --write-manifest --from ~/mujoco_menagerie   # regenerate the manifest
+"""
+
+from __future__ import annotations
+
+import argparse
+import hashlib
+import json
+import shutil
+import subprocess
+import sys
+import urllib.request
+from pathlib import Path
+
+HERE = Path(__file__).resolve().parent
+MANIFEST = HERE / "manifest.json"
+DEST = HERE / "src" / "sscbirrt_assets" / "menagerie"
+RAW_URL = "https://raw.githubusercontent.com/google-deepmind/mujoco_menagerie/{commit}/{path}"
+
+# What the manifest covers: each model's MJCF, its meshes, and its LICENSE. Not the preview .png,
+# the scene.xml, or the README/CHANGELOG.
+MODELS = {
+    "universal_robots_ur5e": ["ur5e.xml", "LICENSE", "assets/*.obj"],
+    "robotiq_2f85": ["2f85.xml", "LICENSE", "assets/*.stl"],
+}
+
+
+def _sha256(data: bytes) -> str:
+    return hashlib.sha256(data).hexdigest()
+
+
+def _read_source(path: str, commit: str, local: Path | None) -> bytes:
+    if local is not None:
+        return (local / path).read_bytes()
+    with urllib.request.urlopen(RAW_URL.format(commit=commit, path=path), timeout=60) as response:
+        return response.read()
+
+
+def fetch(local: Path | None = None) -> Path:
+    """Place every manifest file under DEST, verified; skip files already present with the right hash."""
+    manifest = json.loads(MANIFEST.read_text())
+    commit = manifest["commit"]
+    for path, digest in manifest["files"].items():
+        target = DEST / path
+        if target.is_file() and _sha256(target.read_bytes()) == digest:
+            continue
+        data = _read_source(path, commit, local)
+        if _sha256(data) != digest:
+            raise RuntimeError(f"{path}: SHA-256 mismatch against manifest (menagerie commit {commit})")
+        target.parent.mkdir(parents=True, exist_ok=True)
+        target.write_bytes(data)
+    # Nothing outside the manifest ships: remove stale files from an earlier manifest.
+    wanted = {DEST / p for p in manifest["files"]}
+    for existing in DEST.rglob("*"):
+        if existing.is_file() and existing not in wanted:
+            existing.unlink()
+    return DEST
+
+
+def write_manifest(local: Path) -> None:
+    """Regenerate manifest.json from a local clone at the commit it is checked out at."""
+    status = subprocess.run(
+        ["git", "-C", str(local), "status", "--porcelain", "--", *MODELS], capture_output=True, text=True, check=True
+    ).stdout
+    tracked_changes = [line for line in status.splitlines() if not line.startswith("??")]
+    if tracked_changes:
+        raise RuntimeError(f"{local} has local changes to the shipped models:\n" + "\n".join(tracked_changes))
+    commit = subprocess.run(
+        ["git", "-C", str(local), "rev-parse", "HEAD"], capture_output=True, text=True, check=True
+    ).stdout.strip()
+    files = {}
+    for model, patterns in MODELS.items():
+        for pattern in patterns:
+            for f in sorted((local / model).glob(pattern)):
+                rel = f.relative_to(local).as_posix()
+                files[rel] = _sha256(f.read_bytes())
+    MANIFEST.write_text(json.dumps({"commit": commit, "files": files}, indent=2) + "\n")
+    print(f"wrote {MANIFEST} ({len(files)} files, commit {commit})")
+
+
+def main() -> int:
+    parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
+    parser.add_argument("--from", dest="local", type=Path, help="copy from a local menagerie clone")
+    parser.add_argument("--write-manifest", action="store_true", help="regenerate manifest.json from --from")
+    parser.add_argument("--clean", action="store_true", help="delete the fetched files")
+    args = parser.parse_args()
+    if args.clean:
+        shutil.rmtree(DEST, ignore_errors=True)
+        return 0
+    if args.write_manifest:
+        if args.local is None:
+            parser.error("--write-manifest needs --from")
+        write_manifest(args.local.expanduser())
+        return 0
+    dest = fetch(args.local.expanduser() if args.local else None)
+    print(f"assets ready in {dest}")
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())

sscbirrt_assets-1.0.0/hatch_build.py

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+# SPDX-License-Identifier: MIT
+# Copyright (c) 2025 Siddhartha Srinivasa
+
+"""Build hook: place and verify the menagerie files before hatchling packs them."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+from hatchling.builders.hooks.plugin.interface import BuildHookInterface
+
+
+class FetchMenagerie(BuildHookInterface):
+    PLUGIN_NAME = "fetch-menagerie"
+
+    def initialize(self, version, build_data):
+        sys.path.insert(0, str(Path(self.root)))
+        try:
+            from fetch import fetch
+        finally:
+            sys.path.pop(0)
+        fetch()

sscbirrt_assets-1.0.0/manifest.json

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+{
+  "commit": "feadf76d42f8a2162426f7d226a3b539556b3bf5",
+  "files": {
+    "universal_robots_ur5e/ur5e.xml": "ffd0a7b336d3c2d27c35a15cc0d4aaa95196769aca190ac8d6522d3318c345a0",
+    "universal_robots_ur5e/LICENSE": "5ec71ccf66c8d03261448f2441a586765b97f2248c860a1ae19689fb1c45cee6",
+    "universal_robots_ur5e/assets/base_0.obj": "9a3b21f1524baef6af8a52d7af90b6e94b79f7e3c2b04a0f6581f74d22291b0b",
+    "universal_robots_ur5e/assets/base_1.obj": "cf7d54691a2c1eeda280955ebd6bd83c2dbecfc46fb53c10198f05d107511b50",
+    "universal_robots_ur5e/assets/forearm_0.obj": "64c049a55149c2ab355594d52302b53d3e34da3677ceaa1917c427cde7743146",
+    "universal_robots_ur5e/assets/forearm_1.obj": "a96fe203015cf532b193f414cd01268c7c36795e51a837dd33afd122334f81f2",
+    "universal_robots_ur5e/assets/forearm_2.obj": "05b436505fc595aeab26675590c2b56b88a65b2d52d6352096fed9f07cb4c4ca",
+    "universal_robots_ur5e/assets/forearm_3.obj": "fa31af19cfad7a765b62e8a2d5931cb014b88de84195a7850b4e5ee902112e9a",
+    "universal_robots_ur5e/assets/shoulder_0.obj": "477387a7e7312782a6040484a3c2c2fcee33f40109f419076e31b6f6e1692c68",
+    "universal_robots_ur5e/assets/shoulder_1.obj": "8537bba02804640ddf6e260f79fe66e895b3229ed3d44298a95e8e027eb5d435",
+    "universal_robots_ur5e/assets/shoulder_2.obj": "291714518416bb8f0bafbf123867db011ecbf5146a05245ca5893ee8c57d4e21",
+    "universal_robots_ur5e/assets/upperarm_0.obj": "14143d4f1175a7dbacc8e2f2f98f1cac5a2b2e238cd46cd03654d31f2610eb53",
+    "universal_robots_ur5e/assets/upperarm_1.obj": "272899e927f4a32b7c25e34560ec70654c0346cc8ed1c616c0555f3f53b32d14",
+    "universal_robots_ur5e/assets/upperarm_2.obj": "86c05350d60eb0e7e28a81b544267478b7db997baba41cef19088ebbeffecfa1",
+    "universal_robots_ur5e/assets/upperarm_3.obj": "b257dab441e6fab64ea03b4b87029d8a96554ad1a513cce944d56acba0ad948a",
+    "universal_robots_ur5e/assets/wrist1_0.obj": "7ef0c59b5c5d56a9902435c9a058b27d2a38c85fe2bae02d00a9284dd1f4d519",
+    "universal_robots_ur5e/assets/wrist1_1.obj": "ee6d5c562e6becef94109b0543329080d285d1aef521a01ed98e18a5bf1e8684",
+    "universal_robots_ur5e/assets/wrist1_2.obj": "88c66dc64f15391287147d50add37729a3f41dadd80b1f859cf2cb6d45daf32a",
+    "universal_robots_ur5e/assets/wrist2_0.obj": "2ac2e2e39d8f7005bc3b3ab26cd61634be2e14930074615da5318b9ee7c569a8",
+    "universal_robots_ur5e/assets/wrist2_1.obj": "a721d06dc61d3b3a8ec58c035c9e3358ed30d6991a72e077d8abf3c3c203b633",
+    "universal_robots_ur5e/assets/wrist2_2.obj": "6df4335c8bd5e881fda2c224f770115ffe9ddd0cd321ebe3c0a4a310796f0987",
+    "universal_robots_ur5e/assets/wrist3.obj": "0e51748f9c93bd66604360a5cf7e2e8a6e754550be64076333ff4fc19ec90c61",
+    "robotiq_2f85/2f85.xml": "e07bba81975002dbae8b1e9984b0a2088ecca55f52cf395d099650d15db2bc9d",
+    "robotiq_2f85/LICENSE": "3d5edd18d1e22a17666e9bb84270171ed5ac90b192d24e0177fd171708ea2316",
+    "robotiq_2f85/assets/base.stl": "1c7b9f2bd92d705fc4e897c94e905973a3c05f406845e942229433deb7041453",
+    "robotiq_2f85/assets/base_mount.stl": "87971dfdd6e5311b5a723e7b73c4701ebf5c2364df671500f30dfc1c53c8e61a",
+    "robotiq_2f85/assets/coupler.stl": "d5ee95e62f8415bf5b6e503c831a958f5fc1990bf9b2865329ec38a28932727c",
+    "robotiq_2f85/assets/driver.stl": "bbd6e868b1778bead60d2516c7ede581d7ad4e431744b1828757d6ea5129c112",
+    "robotiq_2f85/assets/follower.stl": "633793332c081641ce200df27a40643cc293b29956e3cb5cb29cb811c33ef1c7",
+    "robotiq_2f85/assets/pad.stl": "4af1fa8d9bb285abecbf5dfc88e74cb30f059a7a074c2030dc35e9ee4316019d",
+    "robotiq_2f85/assets/silicone_pad.stl": "ca20c0fa61e6d3ce7b04bed25360e048e31dfd88ace04187aa6d9e8f4ca3fd0f",
+    "robotiq_2f85/assets/spring_link.stl": "4fb74a8a0d76c0e471cf19fd48bc676fd5b19123798e7a39eb6aa56869354283"
+  }
+}

sscbirrt_assets-1.0.0/pyproject.toml

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+[project]
+name = "sscbirrt-assets"
+version = "1.0.0"
+description = "The MuJoCo Menagerie UR5e and Robotiq 2F-85 models, packaged for the sscbirrt demos"
+readme = "README.md"
+requires-python = ">=3.10"
+# The Python code is MIT; the model files keep their upstream licenses.
+license = "MIT AND BSD-3-Clause AND BSD-2-Clause"
+license-files = [
+    "LICENSE",
+    "src/sscbirrt_assets/menagerie/universal_robots_ur5e/LICENSE",
+    "src/sscbirrt_assets/menagerie/robotiq_2f85/LICENSE",
+]
+keywords = ["mujoco", "ur5e", "robotiq", "robot-models", "sscbirrt"]
+classifiers = [
+    "Intended Audience :: Science/Research",
+    "Programming Language :: Python :: 3",
+    "Topic :: Scientific/Engineering",
+]
+authors = [
+    {name = "Siddhartha Srinivasa", email = "siddhartha.srinivasa@gmail.com"},
+]
+dependencies = []
+
+[project.urls]
+Homepage = "https://github.com/personalrobotics/sscbirrt"
+Source = "https://github.com/personalrobotics/sscbirrt/tree/main/assets"
+Upstream = "https://github.com/google-deepmind/mujoco_menagerie"
+
+[build-system]
+requires = ["hatchling>=1.27"]
+build-backend = "hatchling.build"
+
+# The menagerie files are fetched at build time (hatch_build.py -> fetch.py, pinned and hash-checked) and
+# gitignored, so they are declared as artifacts: hatchling otherwise drops VCS-ignored files.
+[tool.hatch.build.hooks.custom]
+path = "hatch_build.py"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/sscbirrt_assets"]
+artifacts = ["src/sscbirrt_assets/menagerie/**"]
+
+[tool.hatch.build.targets.sdist]
+include = ["src/", "fetch.py", "hatch_build.py", "manifest.json", "README.md", "LICENSE"]
+artifacts = ["src/sscbirrt_assets/menagerie/**"]

sscbirrt_assets-1.0.0/src/sscbirrt_assets/__init__.py

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+# SPDX-License-Identifier: MIT
+# Copyright (c) 2025 Siddhartha Srinivasa
+
+"""Robot models for the sscbirrt demos: the MuJoCo Menagerie UR5e and Robotiq 2F-85.
+
+The files are copied unmodified from google-deepmind/mujoco_menagerie at the commit in
+:data:`MENAGERIE_COMMIT`, each under its own LICENSE (UR5e: BSD-3-Clause; 2F-85: BSD-2-Clause).
+The functions return real file paths because loaders such as ``ssik.Manipulator.from_mjcf`` and
+``mujoco.MjSpec.from_file`` resolve the meshes relative to the MJCF.
+"""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+__all__ = ["MENAGERIE_COMMIT", "menagerie_path", "robotiq_2f85_xml", "ur5e_xml"]
+
+MENAGERIE_COMMIT = "feadf76d42f8a2162426f7d226a3b539556b3bf5"
+
+_ROOT = Path(__file__).resolve().parent / "menagerie"
+
+
+def menagerie_path() -> Path:
+    """A directory laid out like a menagerie clone, holding only the shipped models."""
+    return _ROOT
+
+
+def _existing(relative: str) -> Path:
+    path = _ROOT / relative
+    if not path.is_file():
+        raise FileNotFoundError(
+            f"{path} is missing. In a source checkout, run `python assets/fetch.py` to place the models."
+        )
+    return path
+
+
+def ur5e_xml() -> Path:
+    """The Menagerie UR5e MJCF (``universal_robots_ur5e/ur5e.xml``)."""
+    return _existing("universal_robots_ur5e/ur5e.xml")
+
+
+def robotiq_2f85_xml() -> Path:
+    """The Menagerie Robotiq 2F-85 MJCF (``robotiq_2f85/2f85.xml``)."""
+    return _existing("robotiq_2f85/2f85.xml")

sscbirrt_assets-1.0.0/src/sscbirrt_assets/menagerie/robotiq_2f85/2f85.xml

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+<mujoco model="robotiq_2f85">
+  <compiler angle="radian" meshdir="assets" autolimits="true"/>
+
+  <option cone="elliptic" impratio="10"/>
+
+  <asset>
+    <material name="metal" rgba="0.58 0.58 0.58 1"/>
+    <material name="silicone" rgba="0.1882 0.1882 0.1882 1"/>
+    <material name="gray" rgba="0.4627 0.4627 0.4627 1"/>
+    <material name="black" rgba="0.149 0.149 0.149 1"/>
+
+    <mesh class="2f85" file="base_mount.stl"/>
+    <mesh class="2f85" file="base.stl"/>
+    <mesh class="2f85" file="driver.stl"/>
+    <mesh class="2f85" file="coupler.stl"/>
+    <mesh class="2f85" file="follower.stl"/>
+    <mesh class="2f85" file="pad.stl"/>
+    <mesh class="2f85" file="silicone_pad.stl"/>
+    <mesh class="2f85" file="spring_link.stl"/>
+  </asset>
+
+  <default>
+    <default class="2f85">
+      <mesh scale="0.001 0.001 0.001"/>
+      <general biastype="affine"/>
+
+      <joint axis="1 0 0"/>
+      <default class="driver">
+        <joint range="0 0.8" armature="0.005" damping="0.1" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="follower">
+        <joint range="-0.872664 0.872664" armature="0.001" pos="0 -0.018 0.0065" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+      <default class="spring_link">
+        <joint range="-0.29670597283 0.8" armature="0.001" stiffness="0.05" springref="2.62" damping="0.00125"/>
+      </default>
+      <default class="coupler">
+        <joint range="-1.57 0" armature="0.001" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1"/>
+      </default>
+
+      <default class="visual">
+        <geom type="mesh" contype="0" conaffinity="0" group="2"/>
+      </default>
+      <default class="collision">
+        <geom type="mesh" group="3"/>
+        <default class="pad_box1">
+          <geom mass="0" type="box" pos="0 -0.0026 0.028125" size="0.011 0.004 0.009375" friction="0.7"
+            solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.55 0.55 0.55 1"/>
+        </default>
+        <default class="pad_box2">
+          <geom mass="0" type="box" pos="0 -0.0026 0.009375" size="0.011 0.004 0.009375" friction="0.6"
+            solimp="0.95 0.99 0.001" solref="0.004 1" priority="1" rgba="0.45 0.45 0.45 1"/>
+        </default>
+      </default>
+    </default>
+  </default>
+
+  <worldbody>
+    <body name="base_mount" pos="0 0 0.007" childclass="2f85">
+      <geom class="visual" mesh="base_mount" material="black"/>
+      <geom class="collision" mesh="base_mount"/>
+      <body name="base" pos="0 0 0.0038" quat="1 0 0 -1">
+        <inertial mass="0.777441" pos="0 -2.70394e-05 0.0354675" quat="1 -0.00152849 0 0"
+          diaginertia="0.000260285 0.000225381 0.000152708"/>
+        <geom class="visual" mesh="base" material="black"/>
+        <geom class="collision" mesh="base"/>
+        <site name="pinch" pos="0 0 0.145" type="sphere" group="5" rgba="0.9 0.9 0.9 1" size="0.005"/>
+        <!-- Right-hand side 4-bar linkage -->
+        <body name="right_driver" pos="0 0.0306011 0.054904">
+          <inertial mass="0.00899563" pos="2.96931e-12 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
+            diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
+          <joint name="right_driver_joint" class="driver"/>
+          <geom class="visual" mesh="driver" material="gray"/>
+          <geom class="collision" mesh="driver"/>
+          <body name="right_coupler" pos="0 0.0315 -0.0041">
+            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
+              diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
+            <joint name="right_coupler_joint" class="coupler"/>
+            <geom class="visual" mesh="coupler" material="black"/>
+            <geom class="collision" mesh="coupler"/>
+          </body>
+        </body>
+        <body name="right_spring_link" pos="0 0.0132 0.0609">
+          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
+            diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
+          <joint name="right_spring_link_joint" class="spring_link"/>
+          <geom class="visual" mesh="spring_link" material="black"/>
+          <geom class="collision" mesh="spring_link"/>
+          <body name="right_follower" pos="0 0.055 0.0375">
+            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
+              diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
+            <joint name="right_follower_joint" class="follower"/>
+            <geom class="visual" mesh="follower" material="black"/>
+            <geom class="collision" mesh="follower"/>
+            <body name="right_pad" pos="0 -0.0189 0.01352">
+              <geom class="pad_box1" name="right_pad1"/>
+              <geom class="pad_box2" name="right_pad2"/>
+              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107"
+                diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
+              <geom class="visual" mesh="pad"/>
+              <body name="right_silicone_pad">
+                <geom class="visual" mesh="silicone_pad" material="black"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <!-- Left-hand side 4-bar linkage -->
+        <body name="left_driver" pos="0 -0.0306011 0.054904" quat="0 0 0 1">
+          <inertial mass="0.00899563" pos="0 0.0177547 0.00107314" quat="0.681301 0.732003 0 0"
+            diaginertia="1.72352e-06 1.60906e-06 3.22006e-07"/>
+          <joint name="left_driver_joint" class="driver"/>
+          <geom class="visual" mesh="driver" material="gray"/>
+          <geom class="collision" mesh="driver"/>
+          <body name="left_coupler" pos="0 0.0315 -0.0041">
+            <inertial mass="0.0140974" pos="0 0.00301209 0.0232175" quat="0.705636 -0.0455904 0.0455904 0.705636"
+              diaginertia="4.16206e-06 3.52216e-06 8.88131e-07"/>
+            <joint name="left_coupler_joint" class="coupler"/>
+            <geom class="visual" mesh="coupler" material="black"/>
+            <geom class="collision" mesh="coupler"/>
+          </body>
+        </body>
+        <body name="left_spring_link" pos="0 -0.0132 0.0609" quat="0 0 0 1">
+          <inertial mass="0.0221642" pos="-8.65005e-09 0.0181624 0.0212658" quat="0.663403 -0.244737 0.244737 0.663403"
+            diaginertia="8.96853e-06 6.71733e-06 2.63931e-06"/>
+          <joint name="left_spring_link_joint" class="spring_link"/>
+          <geom class="visual" mesh="spring_link" material="black"/>
+          <geom class="collision" mesh="spring_link"/>
+          <body name="left_follower" pos="0 0.055 0.0375">
+            <inertial mass="0.0125222" pos="0 -0.011046 0.0124786" quat="1 0.1664 0 0"
+              diaginertia="2.67415e-06 2.4559e-06 6.02031e-07"/>
+            <joint name="left_follower_joint" class="follower"/>
+            <geom class="visual" mesh="follower" material="black"/>
+            <geom class="collision" mesh="follower"/>
+            <body name="left_pad" pos="0 -0.0189 0.01352">
+              <geom class="pad_box1" name="left_pad1"/>
+              <geom class="pad_box2" name="left_pad2"/>
+              <inertial mass="0.0035" pos="0 -0.0025 0.0185" quat="1 0 0 1"
+                diaginertia="4.73958e-07 3.64583e-07 1.23958e-07"/>
+              <geom class="visual" mesh="pad"/>
+              <body name="left_silicone_pad">
+                <geom class="visual" mesh="silicone_pad" material="black"/>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+
+  <contact>
+    <exclude body1="base" body2="left_driver"/>
+    <exclude body1="base" body2="right_driver"/>
+    <exclude body1="base" body2="left_spring_link"/>
+    <exclude body1="base" body2="right_spring_link"/>
+    <exclude body1="right_coupler" body2="right_follower"/>
+    <exclude body1="left_coupler" body2="left_follower"/>
+  </contact>
+
+  <!--
+    This adds stability to the model by having a tendon that distributes the forces between both
+    joints, such that the equality constraint doesn't have to do that much work in order to equalize
+    both joints. Since both joints share the same sign, we split the force between both equally by
+    setting coef=0.5
+  -->
+  <tendon>
+    <fixed name="split">
+      <joint joint="right_driver_joint" coef="0.5"/>
+      <joint joint="left_driver_joint" coef="0.5"/>
+    </fixed>
+  </tendon>
+
+  <equality>
+    <connect anchor="0 0 0" body1="right_follower" body2="right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <connect anchor="0 0 0" body1="left_follower" body2="left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1"/>
+    <joint joint1="right_driver_joint" joint2="left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001"
+      solref="0.005 1"/>
+  </equality>
+
+  <!--
+    The general actuator below is a customized position actuator (with some damping) where
+    gainprm[0] != kp (see http://mujoco.org/book/modeling.html#position).
+    The reason why gainprm[0] != kp is because the control input range has to be re-scaled to
+    [0, 255]. The joint range is currently set at [0, 0.8], the control range is [0, 255] and
+    kp = 100. Tau = Kp * scale * control_input - Kp * error, max(Kp * scale * control_input) = 0.8,
+    hence scale = 0.8 * 100 / 255
+  -->
+  <actuator>
+    <general class="2f85" name="fingers_actuator" tendon="split" forcerange="-5 5" ctrlrange="0 255"
+      gainprm="0.3137255 0 0" biasprm="0 -100 -10"/>
+  </actuator>
+</mujoco>

sscbirrt_assets-1.0.0/src/sscbirrt_assets/menagerie/robotiq_2f85/LICENSE

@@ -0,0 +1,23 @@
+Copyright (c) 2013, ROS-Industrial
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+  Redistributions in binary form must reproduce the above copyright notice, this
+  list of conditions and the following disclaimer in the documentation and/or
+  other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

sscbirrt_assets-1.0.0/src/sscbirrt_assets/menagerie/universal_robots_ur5e/LICENSE

@@ -0,0 +1,26 @@
+Copyright 2018 ROS Industrial Consortium
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation and/or
+other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its contributors
+may be used to endorse or promote products derived from this software without
+specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.