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arena.xml
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<mujoco model="unnamed_model">
<compiler angle="radian"/>
<option integrator="implicitfast"/>
<default>
<default class="/"/>
<default class="yam_v0/">
<default class="yam_v0/yam">
<joint axis="0 0 1" frictionloss="0.10000000000000001"/>
<position inheritrange="1"/>
<default class="yam_v0/dm4340">
<joint armature="0.032000000000000001"/>
<position forcerange="-28 28" kp="40" kv="2.5"/>
</default>
<default class="yam_v0/dm4310">
<joint armature="0.0018"/>
<position forcerange="-10 10" kp="10" kv="1"/>
</default>
<default class="yam_v0/visual">
<geom type="mesh" contype="0" conaffinity="0" group="2" material="yam_v0/black" density="0"/>
</default>
<default class="yam_v0/collision">
<geom type="capsule" group="3"/>
<default class="yam_v0/sphere_collision">
<geom type="sphere" size="0.00059999999999999995 0 0" rgba="1 0 0 1"/>
</default>
</default>
<default class="yam_v0/finger">
<joint type="slide" armature="0.10000000000000001" frictionloss="0.10000000000000001"/>
<position ctrlrange="0 0.041000000000000002" kp="100" kv="10" inheritrange="0"/>
</default>
</default>
</default>
</default>
<asset>
<material name="yam_v0/black" class="yam_v0/" rgba="0.25 0.25 0.25 1"/>
<material name="yam_v0/white" class="yam_v0/" rgba="0.90000000000000002 0.90000000000000002 0.90000000000000002 1"/>
<mesh name="yam_v0/model2" class="yam_v0/" file="model2-967e4da3d2fd69947920725acb572cac7bd5b973.stl"/>
<mesh name="yam_v0/model2__2" class="yam_v0/" file="model2__2-b5c7c4ac82514b7e8cb0514d5cc497c97cffa2b3.stl"/>
<mesh name="yam_v0/model2__3" class="yam_v0/" file="model2__3-d08e775ac99e4f7b29a8504dcd3e328c0b5992a3.stl"/>
<mesh name="yam_v0/model2__4" class="yam_v0/" file="model2__4-c885fc94de5166524d7392c9df109816cbc8e15c.stl"/>
<mesh name="yam_v0/model2__5" class="yam_v0/" file="model2__5-2f7f60c596ed41ef38b4a5254499e014a35681e1.stl"/>
<mesh name="yam_v0/model2__6" class="yam_v0/" file="model2__6-06f5576fe0fe27f17b20e35aeb5c7f787f8680a5.stl"/>
<mesh name="yam_v0/model2__7" class="yam_v0/" file="model2__7-a96f01fcdcafba92c4944da81f4bda49a1ef0f9a.stl"/>
<mesh name="yam_v0/model2__8" class="yam_v0/" file="model2__8-98d4f404e16ca1cf4db9806e2b1d2299931c142c.stl"/>
<mesh name="yam_v0/model2__9" class="yam_v0/" file="model2__9-84bc19d7a210f875e3c222973f8e2515480a2852.stl"/>
<mesh name="yam_v0/model2__10" class="yam_v0/" file="model2__10-664952e974e4bc0ac2302629ae07f069d4c2b94b.stl"/>
<mesh name="yam_v0/model2__11" class="yam_v0/" file="model2__11-1466b57ee1b44768a7fe100a5ff999528851e485.stl"/>
<mesh name="yam_v0/model2__12" class="yam_v0/" file="model2__12-324ec7eb49f0b8fe0f426cc522fd448b3eedb6ea.stl"/>
<mesh name="yam_v0/model2__13" class="yam_v0/" file="model2__13-dc89005bb6c75385433b20c413241e573a8447e2.stl"/>
<mesh name="yam_v0/model2__14" class="yam_v0/" file="model2__14-9887c16d2bcb7b338c8fada128b471de82b282d3.stl"/>
<mesh name="yam_v0/model2__15" class="yam_v0/" file="model2__15-27a407f297462a5807e689a2fa8bc03d7ecba478.stl"/>
<mesh name="yam_v0/model2__16" class="yam_v0/" file="model2__16-58bb3f2ab982f11038032776266f75ab0872e81e.stl"/>
<mesh name="yam_v0/model2__17" class="yam_v0/" file="model2__17-798ed1057c1338b6c32080bff9155ae7ea415a19.stl"/>
</asset>
<worldbody>
<body name="yam_v0/">
<light name="yam_v0/spotlight" class="yam_v0/" mode="targetbodycom" target="yam_v0/link_6" pos="0 0 1"/>
<body name="yam_v0/arm" childclass="yam_v0/yam">
<geom name="yam_v0//unnamed_geom_0" class="yam_v0/visual" pos="0 0 -0.00059999999999999995" quat="1 0 0 1" mesh="yam_v0/model2"/>
<geom name="yam_v0//unnamed_geom_1" class="yam_v0/collision" size="0.033000000000000002 0.01" pos="0 0 0.025999999999999999" quat="1 0 0 0"/>
<body name="yam_v0/link_1" pos="0 0 0.063100000000000003" quat="1 0 0 1">
<inertial pos="-0.0019286100000000001 -0.0079573500000000002 0.020817599999999999" quat="0.29785099999999998 0.64263400000000004 0.360045 0.60718499999999997" mass="0.12415" diaginertia="0.00018075099999999999 0.000145532 5.89179e-05"/>
<joint name="yam_v0/joint1" class="yam_v0/dm4340" range="-2.6179899999999998 3.0543300000000002"/>
<geom name="yam_v0//unnamed_geom_2" class="yam_v0/visual" pos="5.2615899999999997e-07 2.3435500000000001e-07 -0.063200000000000006" quat="1 0 0 0" mesh="yam_v0/model2__2"/>
<body name="yam_v0/link_2" pos="2.5000000000000001e-05 -0.02 0.040899999999999999" quat="1 1 1 1" gravcomp="1">
<inertial pos="0.13200799999999999 2.10599e-06 0.00029307299999999998" quat="1 1 1 1" mass="1.24434" diaginertia="0.0121902 0.0121318 0.00068330400000000003"/>
<joint name="yam_v0/joint2" class="yam_v0/dm4340" range="0 3.6651899999999999"/>
<geom name="yam_v0//unnamed_geom_3" class="yam_v0/visual" pos="0.019999200000000002 -0.1041 -2.4473799999999999e-05" quat="1 -1 -1 -1" mesh="yam_v0/model2__3"/>
<geom name="yam_v0//unnamed_geom_4" class="yam_v0/visual" pos="0.019999200000000002 -0.1041 -2.4473799999999999e-05" quat="1 -1 -1 -1" mesh="yam_v0/model2__4"/>
<geom name="yam_v0//unnamed_geom_5" class="yam_v0/visual" material="yam_v0/white" pos="0.019999200000000002 -0.1041 -2.4473799999999999e-05" quat="1 -1 -1 -1" mesh="yam_v0/model2__5"/>
<geom name="yam_v0//unnamed_geom_6" class="yam_v0/collision" size="0.032000000000000001 0.11" pos="0.13 0 0" quat="1 0 1 0"/>
<geom name="yam_v0//unnamed_geom_7" class="yam_v0/collision" size="0.033000000000000002 0.02" pos="0 0 0" quat="1 0 0 0"/>
<geom name="yam_v0//unnamed_geom_8" class="yam_v0/collision" size="0.033000000000000002 0.025000000000000001" pos="0.26500000000000001 0 0" quat="1 0 0 0"/>
<body name="yam_v0/link_3" pos="0.26400000000000001 0 0" quat="0 1 0 0" gravcomp="1">
<inertial pos="-0.12181599999999999 -0.054845999999999999 -0.00011110799999999999" quat="1 1 1 1" mass="0.85369799999999996" diaginertia="0.0069973199999999996 0.0069611200000000003 0.00078824400000000001"/>
<joint name="yam_v0/joint3" class="yam_v0/dm4340" range="0 3.6651899999999999"/>
<geom name="yam_v0//unnamed_geom_9" class="yam_v0/visual" pos="-0.244001 0.104101 2.4473799999999999e-05" quat="1 1 1 -1" mesh="yam_v0/model2__6"/>
<geom name="yam_v0//unnamed_geom_10" class="yam_v0/visual" pos="-0.244001 0.104101 2.4473799999999999e-05" quat="1 1 1 -1" mesh="yam_v0/model2__7"/>
<geom name="yam_v0//unnamed_geom_11" class="yam_v0/visual" material="yam_v0/white" pos="-0.244001 0.104101 2.4473799999999999e-05" quat="1 1 1 -1" mesh="yam_v0/model2__8"/>
<geom name="yam_v0//unnamed_geom_12" class="yam_v0/visual" pos="-0.244001 0.104101 2.4473799999999999e-05" quat="1 1 1 -1" mesh="yam_v0/model2__9"/>
<geom name="yam_v0//unnamed_geom_13" class="yam_v0/collision" size="0.034000000000000002 0.12" pos="-0.14000000000000001 -0.059999999999999998 0" quat="1 0 1 0"/>
<geom name="yam_v0//unnamed_geom_14" class="yam_v0/collision" size="0.034000000000000002 0.014999999999999999" pos="-0.23999999999999999 -0.059999999999999998 0" quat="1 0 0 0"/>
<body name="yam_v0/link_4" pos="-0.245 -0.059999999999999998 0" quat="1 0 0 0" gravcomp="1">
<inertial pos="-0.076977799999999999 -0.052710399999999998 0.000154878" quat="0.66700000000000004 0.66700000000000004 -0.23599999999999999 -0.23599999999999999" mass="0.46351100000000001" diaginertia="0.00079153199999999996 0.00074473300000000003 0.00028211600000000001"/>
<joint name="yam_v0/joint4" class="yam_v0/dm4310" range="-1.5708 1.5708"/>
<geom name="yam_v0//unnamed_geom_15" class="yam_v0/visual" pos="0.00100023 0.164101 2.4473799999999999e-05" quat="1 1 1 -1" mesh="yam_v0/model2__10"/>
<geom name="yam_v0//unnamed_geom_16" class="yam_v0/collision" size="0.029999999999999999 0.014999999999999999" pos="-0.072999999999999995 -0.059999999999999998 0" quat="1 1 0 0"/>
<body name="yam_v0/link_5" pos="-0.073999999999999996 -0.0395 2.5000000000000001e-05" quat="1 -1 1 1" gravcomp="1">
<inertial pos="3.6486100000000003e-05 0.00025664999999999998 0.035352599999999998" quat="1 0 0 0" mass="0.350962" diaginertia="0.00019780199999999999 0.0001775 0.00014740200000000001"/>
<joint name="yam_v0/joint5" class="yam_v0/dm4310" range="-1.5708 1.5708"/>
<geom name="yam_v0//unnamed_geom_17" class="yam_v0/visual" pos="0 -0.074997099999999997 0.203601" quat="1.3267900000000001e-06 1 0 0" mesh="yam_v0/model2__11"/>
<geom name="yam_v0//unnamed_geom_18" class="yam_v0/collision" size="0.029999999999999999 0.014999999999999999" pos="0 0.025000000000000001 0.0395" quat="1 1 0 0"/>
<body name="yam_v0/link_6" pos="0 0.035299999999999998 0.0395" quat="1 -1 0 0" gravcomp="1">
<inertial pos="-0.000217767 7.3705899999999995e-05 0.027054499999999999" quat="1 1 0 0" mass="0.36747600000000002" diaginertia="0.000265958 0.00024268599999999999 0.000227409"/>
<joint name="yam_v0/joint6" class="yam_v0/dm4310" range="-2.0943999999999998 2.0943999999999998"/>
<geom name="yam_v0//unnamed_geom_19" class="yam_v0/visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="yam_v0/model2__12"/>
<geom name="yam_v0//unnamed_geom_20" class="yam_v0/visual" pos="0 -0.164101 -0.110597" quat="1 -1 0 0" mesh="yam_v0/model2__13"/>
<geom name="yam_v0//unnamed_geom_21" class="yam_v0/collision" size="0.01 0.035000000000000003" pos="0 0.039 0.051999999999999998" quat="1 0 1 0"/>
<geom name="yam_v0//unnamed_geom_22" class="yam_v0/collision" size="0.029999999999999999 0.0050000000000000001" pos="0 0 0.029999999999999999" quat="1 0 0 1"/>
<geom name="yam_v0//unnamed_geom_23" class="yam_v0/collision" size="0.01 0.035000000000000003" pos="0 -0.039 0.051999999999999998" quat="1 0 1 0"/>
<site name="yam_v0/tcp_site" group="4" rgba="1 0 0 1" size="0.0050000000000000001" pos="0 0 0" quat="1 0 0 -1"/>
<site name="yam_v0/grasp_site" group="4" rgba="0 1 0 1" size="0.0050000000000000001" pos="0 0 0.13469999999999999" quat="1 0 0 -1"/>
<body name="yam_v0/link_left_finger" pos="-0.036999999999999998 0.039199999999999999 0.060499999999999998" quat="1 0 1 0" gravcomp="1">
<inertial pos="-0.019299500000000001 -0.036590200000000003 0.039773999999999997" quat="0.757351 0.56889800000000001 -0.31990000000000002 0" mass="0.11799999999999999" diaginertia="0.00015908400000000001 0.000154909 4.6365500000000002e-05"/>
<joint name="yam_v0/left_finger" class="yam_v0/finger" range="-0.0020500000000000002 0.037524000000000002"/>
<geom name="yam_v0//unnamed_geom_24" class="yam_v0/visual" pos="0.171097 -0.20330100000000001 0.036999999999999998" quat="1 -1 -1 -1" mesh="yam_v0/model2__14"/>
<geom name="yam_v0//unnamed_geom_25" class="yam_v0/visual" pos="0.171097 -0.20330100000000001 0.036999999999999998" quat="1 -1 -1 -1" mesh="yam_v0/model2__15"/>
<body name="yam_v0/lf_rot" pos="0 -0.039199999999999999 0.036999999999999998" quat="1 -1 -1 1" gravcomp="1">
<geom name="yam_v0//unnamed_geom_26" class="yam_v0/collision" size="0.01 0.029999999999999999" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0 -0.02 0.012" quat="1 0 1 0"/>
<geom name="yam_v0//unnamed_geom_27" class="yam_v0/collision" size="0.01 0.02" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="-0.02 -0.01 0.032000000000000001" quat="1 0 2.5 0"/>
<body name="yam_v0/lf_down" pos="-0.043999999999999997 0 0" quat="1 0 0 0" gravcomp="1">
<geom name="yam_v0//unnamed_geom_28" class="yam_v0/collision" size="0.01 0.01" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0 -0.02 0.012" quat="1 -0.10000000000000001 0 0"/>
<geom name="yam_v0//unnamed_geom_29" class="yam_v0/collision" size="0.0030000000000000001 0.021999999999999999" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0.0050000000000000001 -0.014 0.040000000000000001" quat="1 -0.20000000000000001 0 0"/>
<geom name="yam_v0//unnamed_geom_30" class="yam_v0/collision" size="0.0030000000000000001 0.021999999999999999" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="-0.0050000000000000001 -0.014 0.040000000000000001" quat="1 -0.20000000000000001 0 0"/>
<geom name="yam_v0//unnamed_geom_31" class="yam_v0/collision" type="box" size="0.0060000000000000001 0.002 0.040000000000000001" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0 -0.0023999999999999998 0.045999999999999999" quat="1 0 0 0"/>
<geom name="yam_v0//unnamed_geom_32" class="yam_v0/collision" type="box" size="0.0060000000000000001 0.002 0.039" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0.027 -0.0023999999999999998 0.052999999999999999" quat="1 0 2.5 0"/>
<geom name="yam_v0//unnamed_geom_33" class="yam_v0/sphere_collision" pos="0.0030000000000000001 -0.00040000000000000002 0.078"/>
<geom name="yam_v0//unnamed_geom_34" class="yam_v0/sphere_collision" pos="-0.0030000000000000001 -0.00040000000000000002 0.078"/>
<geom name="yam_v0//unnamed_geom_35" class="yam_v0/sphere_collision" pos="0.0030000000000000001 -0.00040000000000000002 0.070000000000000007"/>
<geom name="yam_v0//unnamed_geom_36" class="yam_v0/sphere_collision" pos="-0.0030000000000000001 -0.00040000000000000002 0.070000000000000007"/>
<geom name="yam_v0//unnamed_geom_37" class="yam_v0/sphere_collision" pos="0.0030000000000000001 -0.00040000000000000002 0.059999999999999998"/>
<geom name="yam_v0//unnamed_geom_38" class="yam_v0/sphere_collision" pos="-0.0030000000000000001 -0.00040000000000000002 0.059999999999999998"/>
</body>
</body>
</body>
<body name="yam_v0/link_right_finger" pos="0.036999999999999998 -0.039199999999999999 0.060499999999999998" quat="1 0 1 0" gravcomp="1">
<inertial pos="-0.019299500000000001 0.036590200000000003 -0.039773999999999997" quat="-0.757351 0.56889800000000001 -0.31990000000000002 0" mass="0.11799999999999999" diaginertia="0.00015908400000000001 0.000154909 4.6365500000000002e-05"/>
<joint name="yam_v0/right_finger" class="yam_v0/finger" range="-0.037524000000000002 0.0020500000000000002"/>
<geom name="yam_v0//unnamed_geom_39" class="yam_v0/visual" pos="0.171097 -0.124901 -0.036999999999999998" quat="1 -1 -1 -1" mesh="yam_v0/model2__16"/>
<geom name="yam_v0//unnamed_geom_40" class="yam_v0/visual" pos="0.171097 -0.124901 -0.036999999999999998" quat="1 -1 -1 -1" mesh="yam_v0/model2__17"/>
<body name="yam_v0/rf_rot" pos="0 0.039199999999999999 -0.036999999999999998" quat="1 1 -1 -1" gravcomp="1">
<geom name="yam_v0//unnamed_geom_41" class="yam_v0/collision" size="0.01 0.029999999999999999" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0 -0.02 0.012" quat="1 0 1 0"/>
<geom name="yam_v0//unnamed_geom_42" class="yam_v0/collision" size="0.01 0.02" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0.02 -0.01 0.032000000000000001" quat="1 0 -2.5 0"/>
<body name="yam_v0/rf_down" pos="0.043999999999999997 0 0" quat="1 0 0 0" gravcomp="1">
<geom name="yam_v0//unnamed_geom_43" class="yam_v0/collision" size="0.01 0.01" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0 -0.02 0.012" quat="1 -0.10000000000000001 0 0"/>
<geom name="yam_v0//unnamed_geom_44" class="yam_v0/collision" size="0.0030000000000000001 0.021999999999999999" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0.0050000000000000001 -0.014 0.040000000000000001" quat="1 -0.20000000000000001 0 0"/>
<geom name="yam_v0//unnamed_geom_45" class="yam_v0/collision" size="0.0030000000000000001 0.021999999999999999" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="-0.0050000000000000001 -0.014 0.040000000000000001" quat="1 -0.20000000000000001 0 0"/>
<geom name="yam_v0//unnamed_geom_46" class="yam_v0/collision" type="box" size="0.0060000000000000001 0.002 0.040000000000000001" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="0 -0.0023999999999999998 0.045999999999999999" quat="1 0 0 0"/>
<geom name="yam_v0//unnamed_geom_47" class="yam_v0/collision" type="box" size="0.0060000000000000001 0.002 0.039" rgba="0.38149300000000003 0.49273400000000001 0.78044599999999997 1" pos="-0.027 -0.0023999999999999998 0.052999999999999999" quat="1 0 -2.5 0"/>
<geom name="yam_v0//unnamed_geom_48" class="yam_v0/sphere_collision" pos="0.0030000000000000001 -0.00040000000000000002 0.078"/>
<geom name="yam_v0//unnamed_geom_49" class="yam_v0/sphere_collision" pos="-0.0030000000000000001 -0.00040000000000000002 0.078"/>
<geom name="yam_v0//unnamed_geom_50" class="yam_v0/sphere_collision" pos="0.0030000000000000001 -0.00040000000000000002 0.070000000000000007"/>
<geom name="yam_v0//unnamed_geom_51" class="yam_v0/sphere_collision" pos="-0.0030000000000000001 -0.00040000000000000002 0.070000000000000007"/>
<geom name="yam_v0//unnamed_geom_52" class="yam_v0/sphere_collision" pos="0.0030000000000000001 -0.00040000000000000002 0.059999999999999998"/>
<geom name="yam_v0//unnamed_geom_53" class="yam_v0/sphere_collision" pos="-0.0030000000000000001 -0.00040000000000000002 0.059999999999999998"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<equality>
<joint name="yam_v0//unnamed_equality_0" class="yam_v0/" joint1="yam_v0/left_finger" joint2="yam_v0/right_finger" polycoef="0 -1 0 0 0"/>
</equality>
<actuator>
<position name="yam_v0/joint1" class="yam_v0/dm4340" joint="yam_v0/joint1"/>
<position name="yam_v0/joint2" class="yam_v0/dm4340" joint="yam_v0/joint2"/>
<position name="yam_v0/joint3" class="yam_v0/dm4340" joint="yam_v0/joint3"/>
<position name="yam_v0/joint4" class="yam_v0/dm4310" joint="yam_v0/joint4" kp="20" kv="0.5"/>
<position name="yam_v0/joint5" class="yam_v0/dm4310" joint="yam_v0/joint5"/>
<position name="yam_v0/joint6" class="yam_v0/dm4310" joint="yam_v0/joint6"/>
<position name="yam_v0/gripper" class="yam_v0/finger" joint="yam_v0/left_finger"/>
</actuator>
<keyframe>
<key name="yam_v0/home" qpos="0 1.0469999999999999 1.0469999999999999 0 0 0 0 0" ctrl="0 1.0469999999999999 1.0469999999999999 0 0 0 0"/>
</keyframe>
</mujoco>