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scene.xml
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scene.xml
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<mujoco>
<default>
<default class="marker">
<geom type="box" size="0.02 0.02 0.001" conaffinity="32" contype="32" />
</default>
<default class="visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom type="capsule" group="3" />
<default class="eef_collision">
<geom type="cylinder" />
</default>
</default>
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4" />
<default class="size3">
<joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" damping="200" />
<position ctrlrange="-6.2831 6.2831" kp="3500" forcerange="-150 150" />
<default class="size3_limited">
<joint range="-3.1415 3.1415" />
<position ctrlrange="-3.1415 3.1415" />
</default>
</default>
<default class="size1">
<joint axis="0 1 0" range="-6.28319 6.28319" armature="0.1" damping="15" />
<position ctrlrange="-6.2831 6.2831" kp="3000" forcerange="-28 28" />
</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" 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" stiffness="0.05" springref="2.62" damping="0.00125" />
</default>
<default class="coupler">
<joint range="-1.57 0" solimplimit="0.95 0.99 0.001" solreflimit="0.005 1" />
</default>
<default class="2f85:visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" />
</default>
<default class="2f85: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>
<compiler angle="radian" autolimits="true" />
<size nconmax="10000" njmax="10000" />
<visual>
<map znear="0.001" zfar="100" />
</visual>
<asset>
<texture name="#1:#1:texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8" />
<material name="#1:#1:matplane" reflectance="0.3" texture="#1:#1:texplane" texrepeat="1 1" texuniform="true" />
<material name="vis_cam#2:black_plastic" rgba=".3 .3 .3 1" />
<material name="vis_cam#2:gray_ring" rgba="1 1 1 1" />
<material name="arm#3:black" specular="0.5" shininess="0.25" rgba="0.033 0.033 0.033 1" />
<material name="arm#3:jointgray" specular="0.5" shininess="0.25" rgba="0.278 0.278 0.278 1" />
<material name="arm#3:linkgray" specular="0.5" shininess="0.25" rgba="0.82 0.82 0.82 1" />
<material name="arm#3:urblue" specular="0.5" shininess="0.25" rgba="0.49 0.678 0.8 1" />
<mesh name="arm#3:base_0" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/base_0.obj" />
<mesh name="arm#3:base_1" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/base_1.obj" />
<mesh name="arm#3:shoulder_0" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/shoulder_0.obj" />
<mesh name="arm#3:shoulder_1" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/shoulder_1.obj" />
<mesh name="arm#3:shoulder_2" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/shoulder_2.obj" />
<mesh name="arm#3:upperarm_0" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/upperarm_0.obj" />
<mesh name="arm#3:upperarm_1" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/upperarm_1.obj" />
<mesh name="arm#3:upperarm_2" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/upperarm_2.obj" />
<mesh name="arm#3:upperarm_3" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/upperarm_3.obj" />
<mesh name="arm#3:forearm_0" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/forearm_0.obj" />
<mesh name="arm#3:forearm_1" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/forearm_1.obj" />
<mesh name="arm#3:forearm_2" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/forearm_2.obj" />
<mesh name="arm#3:forearm_3" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/forearm_3.obj" />
<mesh name="arm#3:wrist1_0" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist1_0.obj" />
<mesh name="arm#3:wrist1_1" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist1_1.obj" />
<mesh name="arm#3:wrist1_2" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist1_2.obj" />
<mesh name="arm#3:wrist2_0" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist2_0.obj" />
<mesh name="arm#3:wrist2_1" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist2_1.obj" />
<mesh name="arm#3:wrist2_2" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist2_2.obj" />
<mesh name="arm#3:wrist3" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/ur5e/assets/wrist3.obj" />
<material name="gripper#4:metal" rgba="0.58 0.58 0.58 1" />
<material name="gripper#4:silicone" rgba="0.1882 0.1882 0.1882 1" />
<material name="gripper#4:gray" rgba="0.4627 0.4627 0.4627 1" />
<material name="gripper#4:black" rgba="0.149 0.149 0.149 1" />
<mesh class="2f85" name="gripper#4:base_mount" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/base_mount.stl" />
<mesh class="2f85" name="gripper#4:base" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/base.stl" />
<mesh class="2f85" name="gripper#4:driver" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/driver.stl" />
<mesh class="2f85" name="gripper#4:coupler" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/coupler.stl" />
<mesh class="2f85" name="gripper#4:follower" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/follower.stl" />
<mesh class="2f85" name="gripper#4:follower_trimmed" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/follower_trimmed.stl" />
<mesh class="2f85" name="gripper#4:pad" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/pad.stl" />
<mesh class="2f85" name="gripper#4:silicone_pad" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/silicone_pad.stl" />
<mesh class="2f85" name="gripper#4:spring_link" file="/home/danfergo/.local/lib/python3.10/site-packages/yarok/comm/components/robotiq_2f85/assets/spring_link.stl" />
<material name="right_geltip#5:glass_material" rgba="1 1 1 0.1" />
<material name="right_geltip#5:white_elastomer" rgba="1 1 1 1" />
<material name="right_geltip#5:black_plastic" rgba=".3 .3 .3 1" />
<material name="right_geltip#5:label_color" rgba="255 0 0 1.0" />
<mesh name="right_geltip#5:geltip_shell" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/shell_open.stl" scale="0.001 0.001 0.001" />
<mesh name="right_geltip#5:geltip_sleeve" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/sleeve_open.stl" scale="0.001 0.001 0.001" />
<mesh name="right_geltip#5:geltip_mount" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/mount.stl" scale="0.001 0.001 0.001" />
<mesh name="right_geltip#5:geltip_glass" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/glass_long.stl" scale="0.00099 0.00099 0.00099" />
<mesh name="right_geltip#5:geltip_elastomer" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/elastomer_long.stl" scale="0.0011 0.0011 0.0011" />
<mesh name="right_geltip#5:geltip_elastomer_inv" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/elastomer_long_inv.stl" scale="0.001 0.001 0.001" />
<material name="left_geltip#6:glass_material" rgba="1 1 1 0.1" />
<material name="left_geltip#6:white_elastomer" rgba="1 1 1 1" />
<material name="left_geltip#6:black_plastic" rgba=".3 .3 .3 1" />
<material name="left_geltip#6:label_color" rgba="0 255 0 1.0" />
<mesh name="left_geltip#6:geltip_shell" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/shell_open.stl" scale="0.001 0.001 0.001" />
<mesh name="left_geltip#6:geltip_sleeve" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/sleeve_open.stl" scale="0.001 0.001 0.001" />
<mesh name="left_geltip#6:geltip_mount" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/mount.stl" scale="0.001 0.001 0.001" />
<mesh name="left_geltip#6:geltip_glass" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/glass_long.stl" scale="0.00099 0.00099 0.00099" />
<mesh name="left_geltip#6:geltip_elastomer" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/elastomer_long.stl" scale="0.0011 0.0011 0.0011" />
<mesh name="left_geltip#6:geltip_elastomer_inv" file="/home/danfergo/Projects/modovt/src/world/geltip/meshes/elastomer_long_inv.stl" scale="0.001 0.001 0.001" />
</asset>
<worldbody>
<light directional="true" diffuse="1.0 1.0 1.0" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" />
<body name="#1:#1:floor">
<geom name="#1:#1:ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="#1:#1:matplane" />
</body>
<body pos="0.5 0.5 0.4">
<composite type="grid" count="30 1 1" spacing="0.009" offset="0 0 1">
<joint kind="main" damping="0.001" frictionloss="0.0001" />
<tendon kind="main" width="0.019" rgba=".8 .2 .1 1" />
<geom size=".018" rgba=".8 .2 .1 1" mass="0.0001" friction="0.1 0.005 0.0001" />
</composite>
</body>
<body>
<geom type="box" size="1.0 1.0 0.05" pos="0 0 0.45" />
<geom class="marker" pos="0.7 0.7 0.5" rgba="255 0 0 1" />
<geom class="marker" pos="0.1 0.7 0.5" rgba="0 255 0 1" />
<geom class="marker" pos="0.1 0.3 0.5" rgba="0 0 255 1" />
<geom class="marker" pos="0.7 0.3 0.5" rgba="255 0 255 1" />
</body>
<body pos=".43 1.0 1.2" euler="0 0 0">
<body euler="2.6 0 0">
<body>
<geom type="box" size="0.08 0.04 0.02" pos="0 0 -0.005" material="vis_cam#2:black_plastic" />
<geom type="cylinder" size="0.02 0.02" material="vis_cam#2:gray_ring" />
<camera name="vis_cam#2:cam" zaxis="0 0 -1" />
</body>
</body>
</body>
<body pos="0 0 0.5" xyaxes="0 1 0 -1 0 0">
<body name="arm#3:base" quat="1 0 0 1">
<inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072" />
<geom mesh="arm#3:base_0" material="arm#3:black" class="visual" />
<geom mesh="arm#3:base_1" material="arm#3:jointgray" class="visual" />
<body name="arm#3:shoulder_link" pos="0 0 0.163">
<inertial mass="3.7" pos="0 0 0" diaginertia="0.0102675 0.0102675 0.00666" />
<joint name="arm#3:shoulder_pan_joint" class="size3" axis="0 0 1" />
<geom mesh="arm#3:shoulder_0" material="arm#3:urblue" class="visual" />
<geom mesh="arm#3:shoulder_1" material="arm#3:black" class="visual" />
<geom mesh="arm#3:shoulder_2" material="arm#3:jointgray" class="visual" />
<geom class="collision" size="0.06 0.06" pos="0 0 -0.04" />
<body name="arm#3:upper_arm_link" pos="0 0.138 0" quat="1 0 1 0">
<inertial mass="8.393" pos="0 0 0.2125" diaginertia="0.133886 0.133886 0.0151074" />
<joint name="arm#3:shoulder_lift_joint" class="size3" />
<geom mesh="arm#3:upperarm_0" material="arm#3:linkgray" class="visual" />
<geom mesh="arm#3:upperarm_1" material="arm#3:black" class="visual" />
<geom mesh="arm#3:upperarm_2" material="arm#3:jointgray" class="visual" />
<geom mesh="arm#3:upperarm_3" material="arm#3:urblue" class="visual" />
<geom class="collision" pos="0 -0.04 0" quat="1 1 0 0" size="0.06 0.06" />
<geom class="collision" size="0.05 0.2" pos="0 0 0.2" />
<body name="arm#3:forearm_link" pos="0 -0.131 0.425">
<inertial mass="2.275" pos="0 0 0.196" diaginertia="0.0311796 0.0311796 0.004095" />
<joint name="arm#3:elbow_joint" class="size3_limited" />
<geom mesh="arm#3:forearm_0" material="arm#3:urblue" class="visual" />
<geom mesh="arm#3:forearm_1" material="arm#3:linkgray" class="visual" />
<geom mesh="arm#3:forearm_2" material="arm#3:black" class="visual" />
<geom mesh="arm#3:forearm_3" material="arm#3:jointgray" class="visual" />
<geom class="collision" pos="0 0.08 0" quat="1 1 0 0" size="0.055 0.06" />
<geom class="collision" size="0.038 0.19" pos="0 0 0.2" />
<body name="arm#3:wrist_1_link" pos="0 0 0.392" quat="1 0 1 0">
<inertial mass="1.219" pos="0 0.127 0" diaginertia="0.0025599 0.0025599 0.0021942" />
<joint name="arm#3:wrist_1_joint" class="size1" />
<geom mesh="arm#3:wrist1_0" material="arm#3:black" class="visual" />
<geom mesh="arm#3:wrist1_1" material="arm#3:urblue" class="visual" />
<geom mesh="arm#3:wrist1_2" material="arm#3:jointgray" class="visual" />
<geom class="collision" pos="0 0.05 0" quat="1 1 0 0" size="0.04 0.07" />
<body name="arm#3:wrist_2_link" pos="0 0.127 0">
<inertial mass="1.219" pos="0 0 0.1" diaginertia="0.0025599 0.0025599 0.0021942" />
<joint name="arm#3:wrist_2_joint" axis="0 0 1" class="size1" />
<geom mesh="arm#3:wrist2_0" material="arm#3:black" class="visual" />
<geom mesh="arm#3:wrist2_1" material="arm#3:urblue" class="visual" />
<geom mesh="arm#3:wrist2_2" material="arm#3:jointgray" class="visual" />
<geom class="collision" size="0.04 0.06" pos="0 0 0.04" />
<geom class="collision" pos="0 0.02 0.1" quat="1 1 0 0" size="0.04 0.04" />
<body name="arm#3:wrist_3_link" pos="0 0 0.1">
<inertial mass="0.1889" pos="0 0.0771683 0" quat="1 0 0 1" diaginertia="0.000132134 9.90863e-05 9.90863e-05" />
<joint name="arm#3:wrist_3_joint" class="size1" />
<geom material="arm#3:linkgray" mesh="arm#3:wrist3" class="visual" />
<geom class="eef_collision" pos="0 0.08 0" quat="1 1 0 0" size="0.04 0.02" />
<site name="arm#3:attachment_site" pos="0 0.1 0" quat="-1 1 0 0" />
<body name="arm#3:ee_link" zaxis="0 1 0" pos="0 0.092 0"><body name="gripper#4:base_mount" pos="0 0 0.007" childclass="2f85">
<geom class="2f85:visual" mesh="gripper#4:base_mount" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:base_mount" />
<body name="gripper#4: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="2f85:visual" mesh="gripper#4:base" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:base" />
<body name="gripper#4: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="gripper#4:right_driver_joint" class="driver" />
<geom class="2f85:visual" mesh="gripper#4:driver" material="gripper#4:gray" />
<geom class="2f85:collision" mesh="gripper#4:driver" />
<body name="gripper#4: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="gripper#4:right_coupler_joint" class="coupler" />
<geom class="2f85:visual" mesh="gripper#4:coupler" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:coupler" />
</body>
</body>
<body name="gripper#4: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="gripper#4:right_spring_link_joint" class="spring_link" />
<geom class="2f85:visual" mesh="gripper#4:spring_link" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:spring_link" />
<body name="gripper#4: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="gripper#4:right_follower_joint" class="follower" />
<geom class="2f85:visual" mesh="gripper#4:follower_trimmed" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:follower_trimmed" />
<body name="gripper#4:right_tip"><body pos="0.02 -0.017 0.053" xyaxes="0 -1 0 1 0 0">
<body name="right_geltip#5:geltip">
<geom type="sphere" density="0.1" material="right_geltip#5:label_color" size="0.005" pos="0.0 0.012 -0.025" />
<geom density="0.1" type="mesh" mesh="right_geltip#5:geltip_shell" material="right_geltip#5:black_plastic" />
<geom density="0.1" type="mesh" mesh="right_geltip#5:geltip_sleeve" material="right_geltip#5:black_plastic" />
<geom density="0.1" type="mesh" mesh="right_geltip#5:geltip_mount" material="right_geltip#5:black_plastic" />
<camera name="right_geltip#5:camera" pos="0 0 0.01" zaxis="0 0 -1" fovy="90" />
<body>
<geom density="0.1" type="mesh" mesh="right_geltip#5:geltip_glass" pos="0.0 0.0 -0.003" solimp="1.0 1.2 0.001 0.5 2" solref="0.02 1" material="right_geltip#5:glass_material" />
<geom type="mesh" mesh="right_geltip#5:geltip_elastomer_inv" contype="32" conaffinity="32" material="right_geltip#5:white_elastomer" />
<geom density="0.1" type="mesh" mesh="right_geltip#5:geltip_elastomer" friction="1 0.05 0.01" contype="32" conaffinity="32" pos="0.0 0.0 -0.007" material="right_geltip#5:white_elastomer" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="gripper#4: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="gripper#4:left_driver_joint" class="driver" />
<geom class="2f85:visual" mesh="gripper#4:driver" material="gripper#4:gray" />
<geom class="2f85:collision" mesh="gripper#4:driver" />
<body name="gripper#4: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="gripper#4:left_coupler_joint" class="coupler" />
<geom class="2f85:visual" mesh="gripper#4:coupler" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:coupler" />
</body>
</body>
<body name="gripper#4: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="gripper#4:left_spring_link_joint" class="spring_link" />
<geom class="2f85:visual" mesh="gripper#4:spring_link" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:spring_link" />
<body name="gripper#4: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="gripper#4:left_follower_joint" class="follower" />
<geom class="2f85:visual" mesh="gripper#4:follower_trimmed" material="gripper#4:black" />
<geom class="2f85:collision" mesh="gripper#4:follower_trimmed" />
<body name="gripper#4:left_tip"><body pos="-0.02 -0.017 0.053" xyaxes="0 1 0 -1 0 0">
<body name="left_geltip#6:geltip">
<geom type="sphere" density="0.1" material="left_geltip#6:label_color" size="0.005" pos="0.0 0.012 -0.025" />
<geom density="0.1" type="mesh" mesh="left_geltip#6:geltip_shell" material="left_geltip#6:black_plastic" />
<geom density="0.1" type="mesh" mesh="left_geltip#6:geltip_sleeve" material="left_geltip#6:black_plastic" />
<geom density="0.1" type="mesh" mesh="left_geltip#6:geltip_mount" material="left_geltip#6:black_plastic" />
<camera name="left_geltip#6:camera" pos="0 0 0.01" zaxis="0 0 -1" fovy="90" />
<body>
<geom density="0.1" type="mesh" mesh="left_geltip#6:geltip_glass" pos="0.0 0.0 -0.003" solimp="1.0 1.2 0.001 0.5 2" solref="0.02 1" material="left_geltip#6:glass_material" />
<geom type="mesh" mesh="left_geltip#6:geltip_elastomer_inv" contype="32" conaffinity="32" material="left_geltip#6:white_elastomer" />
<geom density="0.1" type="mesh" mesh="left_geltip#6:geltip_elastomer" friction="1 0.05 0.01" contype="32" conaffinity="32" pos="0.0 0.0 -0.007" material="left_geltip#6:white_elastomer" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<sensor>
<actuatorpos name="arm#3:shoulder_pan_pos_sensor" actuator="arm#3:shoulder_pan" />
<actuatorpos name="arm#3:shoulder_lift_pos_sensor" actuator="arm#3:shoulder_lift" />
<actuatorpos name="arm#3:elbow_pos_sensor" actuator="arm#3:elbow" />
<actuatorpos name="arm#3:wrist_1_pos_sensor" actuator="arm#3:wrist_1" />
<actuatorpos name="arm#3:wrist_2_pos_sensor" actuator="arm#3:wrist_2" />
<actuatorpos name="arm#3:wrist_3_pos_sensor" actuator="arm#3:wrist_3" />
<actuatorpos name="gripper#4:fingers_sensor" actuator="gripper#4:fingers_actuator" />
</sensor>
<actuator>
<position class="size3" name="arm#3:shoulder_pan" joint="arm#3:shoulder_pan_joint" />
<position class="size3" name="arm#3:shoulder_lift" joint="arm#3:shoulder_lift_joint" />
<position class="size3_limited" name="arm#3:elbow" joint="arm#3:elbow_joint" />
<position class="size1" name="arm#3:wrist_1" joint="arm#3:wrist_1_joint" />
<position class="size1" name="arm#3:wrist_2" joint="arm#3:wrist_2_joint" />
<position class="size1" name="arm#3:wrist_3" joint="arm#3:wrist_3_joint" />
<general class="2f85" name="gripper#4:fingers_actuator" tendon="gripper#4:split" forcerange="-5 5" ctrlrange="0 255" gainprm="0.3137255 0 0" biasprm="0 -100 -10" />
</actuator>
<tendon>
<fixed name="gripper#4:split">
<joint joint="gripper#4:right_driver_joint" coef="0.5" />
<joint joint="gripper#4:left_driver_joint" coef="0.5" />
</fixed>
</tendon>
<equality>
<connect anchor="0 0 0" body1="gripper#4:right_follower" body2="gripper#4:right_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
<connect anchor="0 0 0" body1="gripper#4:left_follower" body2="gripper#4:left_coupler" solimp="0.95 0.99 0.001" solref="0.005 1" />
<joint joint1="gripper#4:right_driver_joint" joint2="gripper#4:left_driver_joint" polycoef="0 1 0 0 0" solimp="0.95 0.99 0.001" solref="0.005 1" />
</equality>
<contact>
<exclude body1="gripper#4:base" body2="gripper#4:left_driver" />
<exclude body1="gripper#4:base" body2="gripper#4:right_driver" />
<exclude body1="gripper#4:base" body2="gripper#4:left_spring_link" />
<exclude body1="gripper#4:base" body2="gripper#4:right_spring_link" />
<exclude body1="gripper#4:right_coupler" body2="gripper#4:right_follower" />
<exclude body1="gripper#4:left_coupler" body2="gripper#4:left_follower" />
</contact>
</mujoco>