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- rc-table30-v2__rc-aloha/000000/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000000/temporal.json +0 -0
- rc-table30-v2__rc-aloha/000004/meta.json +133 -0
- rc-table30-v2__rc-aloha/000004/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000004/temporal.json +0 -0
- rc-table30-v2__rc-aloha/000010/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000020/meta.json +133 -0
- rc-table30-v2__rc-aloha/000025/meta.json +133 -0
- rc-table30-v2__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000025/temporal.json +1 -0
- rc-table30-v2__rc-aloha/000029/meta.json +133 -0
- rc-table30-v2__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000029/temporal.json +0 -0
- rc-table30-v2__rc-aloha/000031/meta.json +133 -0
- rc-table30-v2__rc-aloha/000035/meta.json +133 -0
- rc-table30-v2__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000035/temporal.json +0 -0
- rc-table30-v2__rc-aloha/000039/meta.json +133 -0
- rc-table30-v2__rc-aloha/000041/temporal.json +0 -0
- rc-table30-v2__rc-aloha/000043/meta.json +133 -0
- rc-table30-v2__rc-aloha/000045/meta.json +133 -0
- rc-table30-v2__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000045/temporal.json +0 -0
- rc-table30-v2__rc-aloha/000049/meta.json +133 -0
- rc-table30-v2__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml +308 -0
- rc-table30-v2__rc-aloha/000049/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000000/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000000/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000000/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000002/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000004/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000004/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000004/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000006/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000006/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000006/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000007/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000010/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000010/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000010/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000013/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000013/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000013/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000016/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000016/temporal.json +0 -0
- rc-table30-v2__rc-dos-w1/000017/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000017/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000019/meta.json +135 -0
- rc-table30-v2__rc-dos-w1/000019/mjcf/dos-w1_no_mesh.xml +145 -0
- rc-table30-v2__rc-dos-w1/000019/temporal.json +0 -0
rc-table30-v2__rc-aloha/000000/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
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| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
+
<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
+
<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
+
<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
+
<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
+
<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
+
<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
+
<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
+
<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 76 |
+
<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 77 |
+
<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 78 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
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| 79 |
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<body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
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| 80 |
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<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
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| 81 |
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<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
|
| 83 |
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<body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
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| 84 |
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|
| 85 |
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<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
|
| 87 |
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<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 88 |
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<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 89 |
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</body>
|
| 90 |
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<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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| 91 |
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| 92 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
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| 93 |
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<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
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| 94 |
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<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
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| 95 |
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<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
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| 96 |
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| 97 |
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| 98 |
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| 99 |
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| 100 |
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<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 101 |
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| 103 |
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<joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 106 |
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| 107 |
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</body>
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| 108 |
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<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115622178619 0.0989020229309 0.0297926892674" quat="-0.00666049520704 -0.00555530078378 0.977599427427 0.210295354039" />
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 123 |
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<joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
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| 127 |
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| 128 |
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| 134 |
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| 137 |
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<joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
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| 138 |
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| 139 |
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| 140 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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<body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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| 147 |
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| 148 |
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| 149 |
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<body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
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| 150 |
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| 151 |
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| 152 |
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</body>
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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<joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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<joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 162 |
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| 163 |
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</body>
|
| 164 |
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<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115589946727 0.0988893290085 0.0297955216037" quat="-0.00665268014184 -0.00556959095661 0.977597062481 0.210306217057" />
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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<joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 186 |
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| 187 |
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| 189 |
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| 190 |
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| 194 |
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| 195 |
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| 198 |
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| 199 |
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| 200 |
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<site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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| 201 |
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| 202 |
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| 203 |
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<joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 205 |
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| 206 |
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| 209 |
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<joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 215 |
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| 222 |
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| 223 |
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| 224 |
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<joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 225 |
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| 226 |
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| 228 |
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| 229 |
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| 230 |
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|
| 231 |
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<inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
|
| 232 |
+
<joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 233 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
|
| 234 |
+
<body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 235 |
+
<inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 236 |
+
<joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 237 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
|
| 238 |
+
<body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 239 |
+
<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 240 |
+
<joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 241 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
|
| 242 |
+
<body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 243 |
+
<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 244 |
+
<joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 245 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
|
| 246 |
+
<body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 247 |
+
<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 248 |
+
</body>
|
| 249 |
+
<body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 250 |
+
<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 251 |
+
<joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 252 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
|
| 253 |
+
</body>
|
| 254 |
+
<body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 255 |
+
<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 256 |
+
<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 257 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
|
| 258 |
+
</body>
|
| 259 |
+
</body>
|
| 260 |
+
</body>
|
| 261 |
+
</body>
|
| 262 |
+
</body>
|
| 263 |
+
</body>
|
| 264 |
+
</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
|
| 268 |
+
</body>
|
| 269 |
+
</worldbody>
|
| 270 |
+
<actuator>
|
| 271 |
+
<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
+
<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
+
<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000000/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-aloha/000004/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Put the pencil case into the backpack.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 3626,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000004/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
+
<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
+
<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
+
<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
+
<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
+
<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
+
<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
+
<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
+
<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 76 |
+
<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 77 |
+
<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 78 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
|
| 79 |
+
<body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 80 |
+
<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 81 |
+
<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
|
| 83 |
+
<body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 84 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 85 |
+
<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
|
| 87 |
+
<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 88 |
+
<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 89 |
+
</body>
|
| 90 |
+
<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 91 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 92 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
|
| 93 |
+
<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 94 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 95 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
|
| 96 |
+
</body>
|
| 97 |
+
</body>
|
| 98 |
+
<body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
|
| 99 |
+
<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 100 |
+
<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 101 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
|
| 102 |
+
</body>
|
| 103 |
+
<body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 104 |
+
<inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
|
| 105 |
+
<joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 106 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
|
| 107 |
+
</body>
|
| 108 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.011564750004 0.0990751808765 0.0295749020097" quat="-0.00659911426125 -0.00550920747061 0.977830784527 0.209220116517" />
|
| 109 |
+
</body>
|
| 110 |
+
</body>
|
| 111 |
+
</body>
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
</body>
|
| 115 |
+
</body>
|
| 116 |
+
<body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
|
| 117 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 118 |
+
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| 119 |
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| 120 |
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<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 122 |
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| 123 |
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<joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
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| 127 |
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| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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| 205 |
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| 206 |
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| 209 |
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<joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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| 217 |
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| 218 |
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| 219 |
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| 222 |
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| 225 |
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| 230 |
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| 245 |
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|
| 246 |
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| 247 |
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<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 248 |
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| 252 |
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| 256 |
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<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 257 |
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| 258 |
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| 259 |
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| 261 |
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| 262 |
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| 263 |
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| 264 |
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|
| 265 |
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|
| 266 |
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|
| 267 |
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<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
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| 268 |
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|
| 269 |
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|
| 270 |
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<actuator>
|
| 271 |
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<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
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<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
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<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000004/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-aloha/000010/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
+
<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
+
<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
+
<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
+
<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
+
<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
+
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| 73 |
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<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
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| 75 |
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| 77 |
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<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
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| 78 |
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| 81 |
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<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
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| 82 |
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| 83 |
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| 84 |
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<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
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| 86 |
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| 87 |
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<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
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| 88 |
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<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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| 89 |
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|
| 90 |
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<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 100 |
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<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 101 |
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| 107 |
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| 108 |
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| 113 |
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| 116 |
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<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 123 |
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| 126 |
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| 127 |
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| 128 |
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| 130 |
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| 131 |
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| 134 |
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| 138 |
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| 139 |
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| 140 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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<body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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<joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 157 |
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| 159 |
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| 160 |
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| 161 |
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<joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 162 |
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| 163 |
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</body>
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| 164 |
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<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115557617588 0.0988610152072 0.0297865540369" quat="-0.00666688315314 -0.00557574830243 0.977604019598 0.210273261651" />
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| 166 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 174 |
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| 175 |
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| 177 |
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| 178 |
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| 179 |
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| 182 |
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| 183 |
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| 186 |
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| 190 |
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| 194 |
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| 195 |
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| 199 |
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| 200 |
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| 201 |
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| 205 |
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| 209 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 215 |
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| 218 |
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| 219 |
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| 222 |
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| 223 |
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| 224 |
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<joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 225 |
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<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
|
| 226 |
+
<body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 227 |
+
<inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 228 |
+
<joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 229 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
|
| 230 |
+
<body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 231 |
+
<inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
|
| 232 |
+
<joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 233 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
|
| 234 |
+
<body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 235 |
+
<inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 236 |
+
<joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 237 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
|
| 238 |
+
<body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 239 |
+
<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 240 |
+
<joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 241 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
|
| 242 |
+
<body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 243 |
+
<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 244 |
+
<joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 245 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
|
| 246 |
+
<body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 247 |
+
<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 248 |
+
</body>
|
| 249 |
+
<body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 250 |
+
<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 251 |
+
<joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 252 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
|
| 253 |
+
</body>
|
| 254 |
+
<body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 255 |
+
<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 256 |
+
<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 257 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
|
| 258 |
+
</body>
|
| 259 |
+
</body>
|
| 260 |
+
</body>
|
| 261 |
+
</body>
|
| 262 |
+
</body>
|
| 263 |
+
</body>
|
| 264 |
+
</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
|
| 268 |
+
</body>
|
| 269 |
+
</worldbody>
|
| 270 |
+
<actuator>
|
| 271 |
+
<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
+
<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
+
<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000020/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Bundle the objects together using the cloth on the table.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 7555,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000025/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Wipe the blackboard clean.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 6643,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
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</body>
|
| 59 |
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</body>
|
| 60 |
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<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
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<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
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<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
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<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
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<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
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<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
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<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
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<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
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<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
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<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
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<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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| 76 |
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|
| 77 |
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<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 78 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
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| 79 |
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<body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 80 |
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<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 81 |
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<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
|
| 83 |
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<body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
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| 84 |
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<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 85 |
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<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
|
| 87 |
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<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 88 |
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<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 89 |
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</body>
|
| 90 |
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<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 91 |
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<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 92 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
|
| 93 |
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<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 94 |
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<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 95 |
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<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
|
| 96 |
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</body>
|
| 97 |
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</body>
|
| 98 |
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<body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
|
| 99 |
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<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 100 |
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<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 101 |
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<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
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| 102 |
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</body>
|
| 103 |
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<body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
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| 104 |
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<inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
|
| 105 |
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<joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 106 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
|
| 107 |
+
</body>
|
| 108 |
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<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115608378875 0.0989194862219 0.0298020240511" quat="-0.00665327726717 -0.00556175589753 0.977593122427 0.210324719795" />
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| 109 |
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</body>
|
| 110 |
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</body>
|
| 111 |
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</body>
|
| 112 |
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</body>
|
| 113 |
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</body>
|
| 114 |
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</body>
|
| 115 |
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</body>
|
| 116 |
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<body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
|
| 117 |
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<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 118 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
|
| 119 |
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<body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 120 |
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<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 121 |
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<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 122 |
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<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
|
| 123 |
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<body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 124 |
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<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 125 |
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<joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 126 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
|
| 127 |
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<body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 128 |
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<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 129 |
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<joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 130 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
|
| 131 |
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<body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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| 132 |
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|
| 133 |
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<joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 134 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
|
| 135 |
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<body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
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| 136 |
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|
| 137 |
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<joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 138 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
|
| 139 |
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<body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 140 |
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|
| 141 |
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<joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 142 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
|
| 143 |
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<body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 144 |
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<site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 145 |
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</body>
|
| 146 |
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<body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 147 |
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|
| 148 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
|
| 149 |
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<body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 150 |
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<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 151 |
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<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
|
| 152 |
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</body>
|
| 153 |
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</body>
|
| 154 |
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<body name="fr_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
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| 155 |
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<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 156 |
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<joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 157 |
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<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
|
| 158 |
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</body>
|
| 159 |
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<body name="fr_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 160 |
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|
| 161 |
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<joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 162 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
|
| 163 |
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</body>
|
| 164 |
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<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115594413275 0.0989135627366 0.0297991481213" quat="-0.00663552102125 -0.00556278691825 0.977595221069 0.21031549873" />
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| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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</body>
|
| 170 |
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</body>
|
| 171 |
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|
| 172 |
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| 173 |
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|
| 174 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="bl_base_link_geom" />
|
| 175 |
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<body name="bl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
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| 176 |
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|
| 177 |
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<joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 178 |
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<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="bl_link1_geom" />
|
| 179 |
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<body name="bl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
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| 180 |
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|
| 181 |
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<joint name="bl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 182 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="bl_link2_geom" />
|
| 183 |
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<body name="bl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
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| 184 |
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| 185 |
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<joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 186 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
|
| 187 |
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<body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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| 188 |
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|
| 189 |
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<joint name="bl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 190 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
|
| 191 |
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<body name="bl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 192 |
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<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 193 |
+
<joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 194 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
|
| 195 |
+
<body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 196 |
+
<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 197 |
+
<joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 198 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
|
| 199 |
+
<body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 200 |
+
<site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 201 |
+
</body>
|
| 202 |
+
<body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 203 |
+
<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 204 |
+
<joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 205 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
|
| 206 |
+
</body>
|
| 207 |
+
<body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 208 |
+
<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 209 |
+
<joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 210 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
|
| 211 |
+
</body>
|
| 212 |
+
</body>
|
| 213 |
+
</body>
|
| 214 |
+
</body>
|
| 215 |
+
</body>
|
| 216 |
+
</body>
|
| 217 |
+
</body>
|
| 218 |
+
</body>
|
| 219 |
+
<body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
|
| 220 |
+
<inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 221 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
|
| 222 |
+
<body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 223 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 224 |
+
<joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 225 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
|
| 226 |
+
<body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 227 |
+
<inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 228 |
+
<joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 229 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
|
| 230 |
+
<body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 231 |
+
<inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
|
| 232 |
+
<joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 233 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
|
| 234 |
+
<body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 235 |
+
<inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 236 |
+
<joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 237 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
|
| 238 |
+
<body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 239 |
+
<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 240 |
+
<joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 241 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
|
| 242 |
+
<body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 243 |
+
<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 244 |
+
<joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 245 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
|
| 246 |
+
<body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 247 |
+
<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 248 |
+
</body>
|
| 249 |
+
<body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 250 |
+
<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 251 |
+
<joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 252 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
|
| 253 |
+
</body>
|
| 254 |
+
<body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 255 |
+
<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 256 |
+
<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 257 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
|
| 258 |
+
</body>
|
| 259 |
+
</body>
|
| 260 |
+
</body>
|
| 261 |
+
</body>
|
| 262 |
+
</body>
|
| 263 |
+
</body>
|
| 264 |
+
</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
|
| 268 |
+
</body>
|
| 269 |
+
</worldbody>
|
| 270 |
+
<actuator>
|
| 271 |
+
<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
+
<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
+
<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000025/temporal.json
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.04559861496090889, 0.1875578910112381, 0.052523884922266006, 0.0, -0.0, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.04559861496090889, 0.1875578910112381, 0.052523884922266006, 0.0010999999940395355, -0.0010999999940395355, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], 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|
rc-table30-v2__rc-aloha/000029/meta.json
ADDED
|
@@ -0,0 +1,133 @@
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| 1 |
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{
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| 2 |
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"format_version": 8,
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| 3 |
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"prompt": "Bundle the objects together using the cloth on the table.",
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| 4 |
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| 5 |
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"cameras": [
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| 6 |
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"global",
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| 7 |
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| 8 |
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| 9 |
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"ref_cam_images": {
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"global": "ref_images/global.png",
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"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
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},
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| 120 |
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"gt_videos": {
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| 121 |
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"global": "gt/global.mp4",
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| 122 |
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|
| 124 |
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| 125 |
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"migrated_from": {
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"source_repo_id": "rc-table30-v2/rc-aloha",
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"episode_index": 7867,
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| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
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|
|
|
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|
|
|
|
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|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
+
<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
+
<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
+
<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
+
<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
+
<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
+
<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
+
<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
+
<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 76 |
+
<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 77 |
+
<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 78 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
|
| 79 |
+
<body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 80 |
+
<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 81 |
+
<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
|
| 83 |
+
<body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 84 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 85 |
+
<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
|
| 87 |
+
<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 88 |
+
<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 89 |
+
</body>
|
| 90 |
+
<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 91 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 92 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
|
| 93 |
+
<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 94 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 95 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
|
| 96 |
+
</body>
|
| 97 |
+
</body>
|
| 98 |
+
<body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
|
| 99 |
+
<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 100 |
+
<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 101 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
|
| 102 |
+
</body>
|
| 103 |
+
<body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 104 |
+
<inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
|
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| 205 |
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| 255 |
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<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 256 |
+
<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 257 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
|
| 258 |
+
</body>
|
| 259 |
+
</body>
|
| 260 |
+
</body>
|
| 261 |
+
</body>
|
| 262 |
+
</body>
|
| 263 |
+
</body>
|
| 264 |
+
</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
|
| 268 |
+
</body>
|
| 269 |
+
</worldbody>
|
| 270 |
+
<actuator>
|
| 271 |
+
<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
+
<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
+
<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000029/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-aloha/000031/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Bundle the objects together using the cloth on the table.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 8072,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000035/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Use a lint roller to remove the debris from the clothing.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 1069,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
|
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|
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|
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|
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|
|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
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|
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|
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|
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|
|
|
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|
|
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|
|
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|
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|
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|
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|
|
|
|
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|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
+
<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
+
<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
+
<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
+
<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
+
<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
+
<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
+
<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
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<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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| 76 |
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| 77 |
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<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
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|
| 87 |
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<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
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| 88 |
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<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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| 89 |
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|
| 90 |
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<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
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| 91 |
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| 92 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
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| 93 |
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<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
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| 94 |
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| 95 |
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| 96 |
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| 97 |
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| 100 |
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<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 101 |
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| 107 |
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</body>
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| 108 |
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| 116 |
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<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 134 |
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| 138 |
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| 139 |
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| 140 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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</body>
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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<joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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<joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 162 |
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| 163 |
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</body>
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| 164 |
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<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115661674796 0.0988193970291 0.029800667493" quat="-0.00662918606276 -0.0055358763123 0.977593565638 0.210324103206" />
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 174 |
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| 175 |
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| 177 |
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<joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 178 |
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| 179 |
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| 182 |
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| 183 |
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| 186 |
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| 190 |
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| 194 |
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| 195 |
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| 198 |
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| 199 |
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| 200 |
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<site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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| 201 |
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| 202 |
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| 205 |
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| 209 |
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<joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 215 |
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| 216 |
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| 218 |
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| 220 |
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| 222 |
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| 223 |
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| 224 |
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<joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
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| 225 |
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| 226 |
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|
| 227 |
+
<inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 228 |
+
<joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 229 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
|
| 230 |
+
<body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 231 |
+
<inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
|
| 232 |
+
<joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 233 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
|
| 234 |
+
<body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 235 |
+
<inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 236 |
+
<joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 237 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
|
| 238 |
+
<body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 239 |
+
<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 240 |
+
<joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 241 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
|
| 242 |
+
<body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 243 |
+
<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 244 |
+
<joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 245 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
|
| 246 |
+
<body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 247 |
+
<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 248 |
+
</body>
|
| 249 |
+
<body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 250 |
+
<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 251 |
+
<joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 252 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
|
| 253 |
+
</body>
|
| 254 |
+
<body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 255 |
+
<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 256 |
+
<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 257 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
|
| 258 |
+
</body>
|
| 259 |
+
</body>
|
| 260 |
+
</body>
|
| 261 |
+
</body>
|
| 262 |
+
</body>
|
| 263 |
+
</body>
|
| 264 |
+
</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
|
| 268 |
+
</body>
|
| 269 |
+
</worldbody>
|
| 270 |
+
<actuator>
|
| 271 |
+
<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
+
<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
+
<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000035/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-aloha/000039/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Box up the tablet and its accessories.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 1753,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000041/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-aloha/000043/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Place the books back onto the bookshelf.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 3056,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000045/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Scoop beans and place them into the empty bowl.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 4345,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
+
<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
+
</body>
|
| 21 |
+
<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
+
<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
+
<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
+
</body>
|
| 30 |
+
<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
+
<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
+
</body>
|
| 34 |
+
<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
+
<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
+
<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
+
<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
+
<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
+
<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
+
<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
+
<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
+
<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
</body>
|
| 60 |
+
<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
+
<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
+
<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
+
<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
+
<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
+
<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
+
<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
+
<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
+
<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
+
<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 76 |
+
<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 77 |
+
<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 78 |
+
<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
|
| 79 |
+
<body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 80 |
+
<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 81 |
+
<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
|
| 83 |
+
<body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 84 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 85 |
+
<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
|
| 87 |
+
<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 88 |
+
<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 89 |
+
</body>
|
| 90 |
+
<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 91 |
+
<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 92 |
+
<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
|
| 93 |
+
<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 94 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 95 |
+
<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
|
| 96 |
+
</body>
|
| 97 |
+
</body>
|
| 98 |
+
<body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
|
| 99 |
+
<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 100 |
+
<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 101 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
|
| 102 |
+
</body>
|
| 103 |
+
<body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 104 |
+
<inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
|
| 105 |
+
<joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 106 |
+
<geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
|
| 107 |
+
</body>
|
| 108 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115554413332 0.0989271700867 0.0297940607651" quat="-0.00663081522005 -0.00557653626305 0.977599341865 0.210296127681" />
|
| 109 |
+
</body>
|
| 110 |
+
</body>
|
| 111 |
+
</body>
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
</body>
|
| 115 |
+
</body>
|
| 116 |
+
<body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
|
| 117 |
+
<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 118 |
+
<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
|
| 119 |
+
<body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 120 |
+
<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 121 |
+
<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 122 |
+
<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
|
| 123 |
+
<body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 124 |
+
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| 205 |
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| 210 |
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| 211 |
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| 212 |
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| 213 |
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| 214 |
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| 230 |
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|
| 246 |
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| 247 |
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<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
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<joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
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| 252 |
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| 256 |
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<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
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| 258 |
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| 263 |
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| 266 |
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| 267 |
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<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
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|
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|
| 270 |
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<actuator>
|
| 271 |
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<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
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<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
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<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
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<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
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<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
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<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
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<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
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<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
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<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000045/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-aloha/000049/meta.json
ADDED
|
@@ -0,0 +1,133 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Put the toothbrush and toothpaste into the toiletries case in sequence, close the case, and then place it into the basket.",
|
| 4 |
+
"mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "site",
|
| 13 |
+
"object_name": "gripper_center",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"fl_link7",
|
| 17 |
+
"fl_link8"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
0.0,
|
| 23 |
+
-1.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
1.0,
|
| 33 |
+
0.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "site",
|
| 39 |
+
"object_name": "fr_gripper_center",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"fr_link7",
|
| 43 |
+
"fr_link8"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
0.0,
|
| 49 |
+
-1.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
1.0,
|
| 59 |
+
0.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"fl_base_link",
|
| 69 |
+
"fl_link1",
|
| 70 |
+
"fl_link2",
|
| 71 |
+
"fl_link3",
|
| 72 |
+
"fl_link4",
|
| 73 |
+
"fl_link5",
|
| 74 |
+
"fl_link6",
|
| 75 |
+
"fl_link7",
|
| 76 |
+
"fl_link8"
|
| 77 |
+
],
|
| 78 |
+
[
|
| 79 |
+
"fr_base_link",
|
| 80 |
+
"fr_link1",
|
| 81 |
+
"fr_link2",
|
| 82 |
+
"fr_link3",
|
| 83 |
+
"fr_link4",
|
| 84 |
+
"fr_link5",
|
| 85 |
+
"fr_link6",
|
| 86 |
+
"fr_link7",
|
| 87 |
+
"fr_link8"
|
| 88 |
+
]
|
| 89 |
+
],
|
| 90 |
+
"skip_bodies": [],
|
| 91 |
+
"gripper_keypoint_overrides": [
|
| 92 |
+
{
|
| 93 |
+
"ee_object_type": "site",
|
| 94 |
+
"ee_object_name": "gripper_center",
|
| 95 |
+
"finger_bodies": [
|
| 96 |
+
"fl_link7",
|
| 97 |
+
"fl_link8"
|
| 98 |
+
],
|
| 99 |
+
"closing_axis": 1
|
| 100 |
+
},
|
| 101 |
+
{
|
| 102 |
+
"ee_object_type": "site",
|
| 103 |
+
"ee_object_name": "fr_gripper_center",
|
| 104 |
+
"finger_bodies": [
|
| 105 |
+
"fr_link7",
|
| 106 |
+
"fr_link8"
|
| 107 |
+
],
|
| 108 |
+
"closing_axis": 1
|
| 109 |
+
}
|
| 110 |
+
]
|
| 111 |
+
},
|
| 112 |
+
"height": 480,
|
| 113 |
+
"width": 640,
|
| 114 |
+
"fps": 10.0,
|
| 115 |
+
"ref_cam_images": {
|
| 116 |
+
"global": "ref_images/global.png",
|
| 117 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 118 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 119 |
+
},
|
| 120 |
+
"gt_videos": {
|
| 121 |
+
"global": "gt/global.mp4",
|
| 122 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 123 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 124 |
+
},
|
| 125 |
+
"migrated_from": {
|
| 126 |
+
"repo_id": "rc-table30-v2/rc-aloha",
|
| 127 |
+
"source_repo_id": "rc-table30-v2/rc-aloha",
|
| 128 |
+
"episode_index": 9468,
|
| 129 |
+
"start_frame": 0,
|
| 130 |
+
"source_fps": 30.0,
|
| 131 |
+
"robot_type": "ALOHA"
|
| 132 |
+
}
|
| 133 |
+
}
|
rc-table30-v2__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
ADDED
|
@@ -0,0 +1,308 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
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|
|
|
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|
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|
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|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="aloha_description_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="footprint" pos="-0.23875 -0.3 -0.775" quat="1 0 0 0">
|
| 12 |
+
<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="footprint_geom" />
|
| 13 |
+
<body name="base_link" pos="0 0 0.15" quat="1 0 0 0">
|
| 14 |
+
<inertial pos="-0.037979422359657 -0.00314478249004299 -0.0259198905321653" quat="1 0 0 0" mass="2.42395529" diaginertia="0.0691541872 0.0588857795 0.125132016" />
|
| 15 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.27082 -0.183 -0.058" name="base_link_geom" />
|
| 16 |
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<body name="right_link" pos="-0.018818 -0.2537 -0.0905" quat="0.707105483 -0.70710808 0 0">
|
| 17 |
+
<inertial pos="4.7341E-15 1.5543E-15 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 18 |
+
<joint name="right_joint" type="hinge" axis="0 0 1" />
|
| 19 |
+
<geom type="sphere" size="0.0253" pos="4.7341e-15 1.5543e-15 -0.005" name="right_link_geom" />
|
| 20 |
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</body>
|
| 21 |
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<body name="left_Link" pos="-0.018818 0.2537 -0.0905" quat="0.707105483 0.70710808 0 0">
|
| 22 |
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<inertial pos="-8.2507E-18 0 -0.005" quat="1 0 0 0" mass="0.14836" diaginertia="0.00013099 0.00013099 0.00023781" />
|
| 23 |
+
<joint name="left_joint" type="hinge" axis="0 0 1" />
|
| 24 |
+
<geom type="sphere" size="0.0253" pos="-8.2507e-18 0 -0.005" name="left_Link_geom" />
|
| 25 |
+
</body>
|
| 26 |
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<body name="right_front_link" pos="0.23918 -0.1977 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 27 |
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<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 28 |
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<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_front_link_geom" />
|
| 29 |
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</body>
|
| 30 |
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<body name="right_rear_link" pos="-0.27082 -0.183 -0.058" quat="-3.6732051e-06 1 0 -0">
|
| 31 |
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<inertial pos="-0.013166 2.7397E-05 0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 32 |
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<geom type="sphere" size="0.0253" pos="-0.013166 2.7397e-05 0.04181" name="right_rear_link_geom" />
|
| 33 |
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</body>
|
| 34 |
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<body name="left_front_link" pos="0.23918 0.1977 -0.058" quat="1 0 0 0">
|
| 35 |
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<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 36 |
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<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_front_link_geom" />
|
| 37 |
+
</body>
|
| 38 |
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<body name="left_rear_link" pos="-0.27077 0.18305 -0.058" quat="1 0 0 0">
|
| 39 |
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<inertial pos="-0.013166 -2.7397E-05 -0.04181" quat="1 0 0 0" mass="0.2864" diaginertia="0.00029479 0.00032696 0.00020885" />
|
| 40 |
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<geom type="sphere" size="0.0253" pos="-0.013166 -2.7397e-05 -0.04181" name="left_rear_link_geom" />
|
| 41 |
+
</body>
|
| 42 |
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</body>
|
| 43 |
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<body name="body_Link" pos="0 0 0" quat="1 0 0 0">
|
| 44 |
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<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 45 |
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<geom type="box" size="0.32 0.28 0.06" pos="0 0 0.06" name="body_Link_geom" />
|
| 46 |
+
<body name="camera_stand_1_Link" pos="0.18 0 0.87" quat="1 0 0 0">
|
| 47 |
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<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 48 |
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<joint name="camera_stand_1_joint" type="slide" axis="0 0 1" range="0 0.5" />
|
| 49 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_1_Link_geom" />
|
| 50 |
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<body name="camera_stand_2_Link" pos="0.043 0.0 -0.002" quat="1 0 0 0">
|
| 51 |
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<inertial pos="0.015107 -0.027922 0.00013672" quat="1 0 0 0" mass="3.736" diaginertia="0.097545 0.045841 0.084773" />
|
| 52 |
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<joint name="camera_stand_2_joint" type="hinge" axis="0 1 0" range="-0.52 0.52" />
|
| 53 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.015107 -0.027922 0.00013672" name="camera_stand_2_Link_geom" />
|
| 54 |
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<body name="mid_camera_link" pos="0.017 0.001 -0.002" quat="1 0 0 0">
|
| 55 |
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<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 56 |
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<geom type="box" size="0.012525 0.045 0.0125" pos="0 0 0" quat="1 0 0 0" name="mid_camera_link_geom" />
|
| 57 |
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</body>
|
| 58 |
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</body>
|
| 59 |
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</body>
|
| 60 |
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<body name="fl_base_link" pos="0.23875 0.3 0.775" quat="1 0 0 0">
|
| 61 |
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<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 62 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fl_base_link_geom" />
|
| 63 |
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<body name="fl_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 64 |
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<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 65 |
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<joint name="fl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 66 |
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<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fl_link1_geom" />
|
| 67 |
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<body name="fl_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 68 |
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<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 69 |
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<joint name="fl_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 70 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fl_link2_geom" />
|
| 71 |
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<body name="fl_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 72 |
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<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 73 |
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<joint name="fl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 74 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fl_link3_geom" />
|
| 75 |
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<body name="fl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 76 |
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<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 77 |
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<joint name="fl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 78 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fl_link4_geom" />
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| 79 |
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<body name="fl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 80 |
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<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
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| 81 |
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<joint name="fl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 82 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fl_link5_geom" />
|
| 83 |
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<body name="fl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 84 |
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<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
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| 85 |
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<joint name="fl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 86 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fl_link6_geom" />
|
| 87 |
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<body name="gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 88 |
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<site name="gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 89 |
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</body>
|
| 90 |
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<body name="fl_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 91 |
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<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 92 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fl_camera_stand_geom" />
|
| 93 |
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<body name="fl_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 94 |
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<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 95 |
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<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fl_camera_link_geom" />
|
| 96 |
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</body>
|
| 97 |
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</body>
|
| 98 |
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<body name="fl_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
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| 99 |
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<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 100 |
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<joint name="fl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 101 |
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<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fl_link7_geom" />
|
| 102 |
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</body>
|
| 103 |
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<body name="fl_link8" pos="0 0 0.13503" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 104 |
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<inertial pos="0.000277816920932317 0.0467673824063769 -0.00921030054508036" quat="1 0 0 0" mass="0.0264822021" diaginertia="9.99779119e-06 6.17952442e-06 1.42101928e-05" />
|
| 105 |
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<joint name="fl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 106 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fl_link8_geom" />
|
| 107 |
+
</body>
|
| 108 |
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<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115583778915 0.098899201667 0.0297885873643" quat="-0.00665560168539 -0.00556894288095 0.977602900196 0.210279003635" />
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| 109 |
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</body>
|
| 110 |
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</body>
|
| 111 |
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</body>
|
| 112 |
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</body>
|
| 113 |
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</body>
|
| 114 |
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</body>
|
| 115 |
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</body>
|
| 116 |
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<body name="fr_base_link" pos="0.23875 -0.3 0.775" quat="1 0 0 0">
|
| 117 |
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<inertial pos="-0.00979274765955341 1.82905827587138E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 118 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="fr_base_link_geom" />
|
| 119 |
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<body name="fr_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 120 |
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<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 121 |
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<joint name="fr_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 122 |
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<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="fr_link1_geom" />
|
| 123 |
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<body name="fr_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 124 |
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<inertial pos="0.148793602378802 -0.00242026983944119 0.00175154638467948" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 125 |
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<joint name="fr_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 126 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="fr_link2_geom" />
|
| 127 |
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<body name="fr_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 128 |
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<inertial pos="-0.0996835215213704 0.0349477226691318 0.000508025815507312" quat="1 0 0 0" mass="0.290847698" diaginertia="0.000107879012 0.000214751672 0.000241923439" />
|
| 129 |
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<joint name="fr_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 130 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="fr_link3_geom" />
|
| 131 |
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<body name="fr_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 132 |
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<inertial pos="0.000276464622387979 -0.00102803669324875 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 133 |
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<joint name="fr_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 134 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="fr_link4_geom" />
|
| 135 |
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<body name="fr_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 136 |
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<inertial pos="8.82262433516967E-05 0.0566829014808256 -0.00196119720482461" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 137 |
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<joint name="fr_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 138 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="fr_link5_geom" />
|
| 139 |
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<body name="fr_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 140 |
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<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 141 |
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<joint name="fr_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 142 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.13503" name="fr_link6_geom" />
|
| 143 |
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<body name="fr_gripper_center" pos="0 0 0.13503" quat="0.70710808 0 0 -0.707105483">
|
| 144 |
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<site name="fr_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 145 |
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</body>
|
| 146 |
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<body name="fr_camera_stand" pos="0.0 0.03 0.0" quat="1 0 0 0">
|
| 147 |
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<inertial pos="0.00103120214523473 0.0121761387587524 0.0315480874960164" quat="1 0 0 0" mass="0.195187143" diaginertia="6.43790257e-05 0.000126146396 0.000154087077" />
|
| 148 |
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<geom type="box" size="0.025 0.05 0.025" pos="0.00103120215 0.0121761388 0.0315480875" name="fr_camera_stand_geom" />
|
| 149 |
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<body name="fr_camera_link" pos="0.012 0.042 0.02" quat="0.984726539 0.174108138 0 0">
|
| 150 |
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<inertial pos="0 0 0" quat="1 0 0 0" mass="0.072" diaginertia="0.0003881243 4.9894e-05 0.0003879257" />
|
| 151 |
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<geom type="box" size="0.012525 0.045 0.0125" pos="0.0 0.0 0" quat="0.500398163 -0.499601837 -0.499999841 -0.499999841" name="fr_camera_link_geom" />
|
| 152 |
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</body>
|
| 153 |
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</body>
|
| 154 |
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<body name="fr_link7" pos="0 0 0.13503" quat="0.499998163 0.5 0.500001837 0.5">
|
| 155 |
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<inertial pos="-0.000277778383727112 -0.0467673043650824 -0.00921029491873201" quat="1 0 0 0" mass="0.0264822923" diaginertia="9.9978748e-06 6.17952123e-06 1.42102717e-05" />
|
| 156 |
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<joint name="fr_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 157 |
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<geom type="box" size="0.012 0.045 0.012" pos="-0.000277778384 -0.0467673044 -0.00921029492" name="fr_link7_geom" />
|
| 158 |
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</body>
|
| 159 |
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|
| 160 |
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|
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<joint name="fr_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 162 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.000277816921 0.0467673824 -0.00921030055" name="fr_link8_geom" />
|
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</body>
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<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="399.067108154 437.830688477" principal="313.93081665 270.848114014" pos="0.0115628946562 0.098837540711 0.0297834296139" quat="-0.00666435765404 -0.00554996598978 0.977606550383 0.210262257343" />
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| 170 |
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|
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|
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|
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<joint name="bl_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
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|
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|
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|
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<joint name="bl_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="bl_link3_geom" />
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<body name="bl_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
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<joint name="bl_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 190 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="bl_link4_geom" />
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<body name="bl_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 192 |
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<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 193 |
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<joint name="bl_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 194 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="bl_link5_geom" />
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| 195 |
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<body name="bl_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 196 |
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<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 197 |
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<joint name="bl_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 198 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="bl_link6_geom" />
|
| 199 |
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<body name="bl_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 200 |
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<site name="bl_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 201 |
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</body>
|
| 202 |
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<body name="bl_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 203 |
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<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 204 |
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<joint name="bl_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 205 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="bl_link7_geom" />
|
| 206 |
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</body>
|
| 207 |
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<body name="bl_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 208 |
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<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 209 |
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<joint name="bl_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 210 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="bl_link8_geom" />
|
| 211 |
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</body>
|
| 212 |
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</body>
|
| 213 |
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</body>
|
| 214 |
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</body>
|
| 215 |
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</body>
|
| 216 |
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</body>
|
| 217 |
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</body>
|
| 218 |
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</body>
|
| 219 |
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<body name="br_base_link" pos="-0.379 -0.3075 0.901" quat="1 0 0 0">
|
| 220 |
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<inertial pos="-0.0097927476595534 1.82905827587127E-06 0.0410100126360189" quat="1 0 0 0" mass="0.162548567" diaginertia="0.000226596925 0.000269444773 0.000222318259" />
|
| 221 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0 0.123" name="br_base_link_geom" />
|
| 222 |
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<body name="br_link1" pos="0 0 0.123" quat="0.707105483 0 0 -0.70710808">
|
| 223 |
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<inertial pos="0.00131676031927024 0.000310288842008612 -0.00922874512303437" quat="1 0 0 0" mass="0.0978679932" diaginertia="7.76684558e-05 9.2496778e-05 8.24589062e-05" />
|
| 224 |
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<joint name="br_joint1" type="hinge" axis="0 0 1" range="-2.618 2.618" />
|
| 225 |
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<geom type="sphere" size="0.0253" pos="0.00131676032 0.000310288842 -0.00922874512" name="br_link1_geom" />
|
| 226 |
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<body name="br_link2" pos="0 0 0" quat="0.508648348 0.491197539 -0.508651957 -0.491197539">
|
| 227 |
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<inertial pos="0.148793602378802 -0.00242026983944155 0.00175154638467947" quat="1 0 0 0" mass="0.290888939" diaginertia="0.00014895964 0.00172800947 0.00177546283" />
|
| 228 |
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<joint name="br_joint2" type="hinge" axis="0 0 1" range="0 3.14" />
|
| 229 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0.28358 0.028726 0" name="br_link2_geom" />
|
| 230 |
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<body name="br_link3" pos="0.28358 0.028726 0" quat="0.999454833 0 0 0.033015704">
|
| 231 |
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<inertial pos="-0.0996835297298523 0.0349477267125974 0.000508019581893638" quat="1 0 0 0" mass="0.290847806" diaginertia="0.000107879021 0.000214751827 0.000241923602" />
|
| 232 |
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<joint name="br_joint3" type="hinge" axis="0 0 1" range="-2.697 0" />
|
| 233 |
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<geom type="capsule" size="0.022" fromto="0 0 0 -0.24221 0.068514 0" name="br_link3_geom" />
|
| 234 |
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<body name="br_link4" pos="-0.24221 0.068514 0" quat="0.544766696 -0.544768697 -0.450809165 0.450807509">
|
| 235 |
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<inertial pos="0.00027646462238809 -0.00102803669324874 -0.00472830700561663" quat="1 0 0 0" mass="0.127087348" diaginertia="3.8201173e-05 4.87048555e-05 4.10592078e-05" />
|
| 236 |
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<joint name="br_joint4" type="hinge" axis="0 0 1" range="-1.832 1.832" />
|
| 237 |
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<geom type="sphere" size="0.0253" pos="0.000276464622 -0.00102803669 -0.00472830701" name="br_link4_geom" />
|
| 238 |
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<body name="br_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 239 |
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<inertial pos="8.8226243351669E-05 0.0566829014808255 -0.00196119720482464" quat="1 0 0 0" mass="0.144711243" diaginertia="4.39644314e-05 5.63173921e-05 4.88713665e-05" />
|
| 240 |
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<joint name="br_joint5" type="hinge" axis="0 0 1" range="-1.22 1.22" />
|
| 241 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 0.091 0.0014165" name="br_link5_geom" />
|
| 242 |
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<body name="br_link6" pos="0 0.091 0.0014165" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 243 |
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<inertial pos="-1.37691016349967E-06 -0.014519262114053 0.0332869772690133" quat="1 0 0 0" mass="0.214619908" diaginertia="0.000328373107 0.000153553732 0.000384841405" />
|
| 244 |
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<joint name="br_joint6" type="hinge" axis="0 0 1" range="-3.14 3.14" />
|
| 245 |
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<geom type="capsule" size="0.022" fromto="0 0 0 0 -0.043177 0.0685" name="br_link6_geom" />
|
| 246 |
+
<body name="br_gripper_center" pos="0 -0.043177 0.0685" quat="0.679332592 0.196234055 0.196233829 -0.679331811">
|
| 247 |
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<site name="br_gripper_center" type="sphere" size="0.005" group="5" rgba="0.9 0.9 0.9 1" />
|
| 248 |
+
</body>
|
| 249 |
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<body name="br_link7" pos="0 -0.043177 0.0685" quat="0.499998163 0.5 0.500001837 0.5">
|
| 250 |
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<inertial pos="0.0220608713440565 0.00159213407754896 -0.0140000105362036" quat="1 0 0 0" mass="0.0163980775" diaginertia="1.12239956e-06 8.67113746e-06 7.92440273e-06" />
|
| 251 |
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<joint name="br_joint7" type="slide" axis="0 0 -1" range="0 0.04" />
|
| 252 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.0220608713 0.00159213408 -0.0140000105" name="br_link7_geom" />
|
| 253 |
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</body>
|
| 254 |
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<body name="br_link8" pos="0 -0.043177 0.0685" quat="0.499998163 -0.5 -0.500001837 0.5">
|
| 255 |
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<inertial pos="0.023131213322327 -0.00164133214045334 -0.0139999978862491" quat="1 0 0 0" mass="0.0159830768" diaginertia="1.09529854e-06 9.31448112e-06 8.5909364e-06" />
|
| 256 |
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<joint name="br_joint8" type="slide" axis="0 0 1" range="-0.04 0" />
|
| 257 |
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<geom type="box" size="0.012 0.045 0.012" pos="0.0231312133 -0.00164133214 -0.0139999979" name="br_link8_geom" />
|
| 258 |
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</body>
|
| 259 |
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</body>
|
| 260 |
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</body>
|
| 261 |
+
</body>
|
| 262 |
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</body>
|
| 263 |
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</body>
|
| 264 |
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</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="604.452819824 606.564147949" principal="324.372253418 262.563598633" pos="-0.0209060165909 -0.254191998542 1.01411003111" quat="0.702918817089 0.131698392182 -0.148764377261 -0.682956682475" />
|
| 268 |
+
</body>
|
| 269 |
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</worldbody>
|
| 270 |
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<actuator>
|
| 271 |
+
<position name="right_joint_actuator" joint="right_joint" kp="200" forcerange="-100 100" />
|
| 272 |
+
<position name="left_joint_actuator" joint="left_joint" kp="200" forcerange="-100 100" />
|
| 273 |
+
<position name="camera_stand_1_joint_actuator" joint="camera_stand_1_joint" kp="1000" forcerange="-10 10" ctrlrange="0 0.5" />
|
| 274 |
+
<position name="camera_stand_2_joint_actuator" joint="camera_stand_2_joint" kp="200" forcerange="-10 10" ctrlrange="-0.52 0.52" />
|
| 275 |
+
<position name="fl_joint1_actuator" joint="fl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 276 |
+
<position name="fl_joint2_actuator" joint="fl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 277 |
+
<position name="fl_joint3_actuator" joint="fl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 278 |
+
<position name="fl_joint4_actuator" joint="fl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 279 |
+
<position name="fl_joint5_actuator" joint="fl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 280 |
+
<position name="fl_joint6_actuator" joint="fl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 281 |
+
<position name="fl_joint7_actuator" joint="fl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 282 |
+
<position name="fl_joint8_actuator" joint="fl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 283 |
+
<position name="fr_joint1_actuator" joint="fr_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 284 |
+
<position name="fr_joint2_actuator" joint="fr_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 285 |
+
<position name="fr_joint3_actuator" joint="fr_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 286 |
+
<position name="fr_joint4_actuator" joint="fr_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 287 |
+
<position name="fr_joint5_actuator" joint="fr_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 288 |
+
<position name="fr_joint6_actuator" joint="fr_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 289 |
+
<position name="fr_joint7_actuator" joint="fr_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 290 |
+
<position name="fr_joint8_actuator" joint="fr_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 291 |
+
<position name="bl_joint1_actuator" joint="bl_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 292 |
+
<position name="bl_joint2_actuator" joint="bl_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 293 |
+
<position name="bl_joint3_actuator" joint="bl_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 294 |
+
<position name="bl_joint4_actuator" joint="bl_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 295 |
+
<position name="bl_joint5_actuator" joint="bl_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 296 |
+
<position name="bl_joint6_actuator" joint="bl_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 297 |
+
<position name="bl_joint7_actuator" joint="bl_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 298 |
+
<position name="bl_joint8_actuator" joint="bl_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 299 |
+
<position name="br_joint1_actuator" joint="br_joint1" kp="200" forcerange="-100 100" ctrlrange="-2.618 2.618" />
|
| 300 |
+
<position name="br_joint2_actuator" joint="br_joint2" kp="200" forcerange="-100 100" ctrlrange="0 3.14" />
|
| 301 |
+
<position name="br_joint3_actuator" joint="br_joint3" kp="200" forcerange="-100 100" ctrlrange="-2.697 0" />
|
| 302 |
+
<position name="br_joint4_actuator" joint="br_joint4" kp="200" forcerange="-100 100" ctrlrange="-1.832 1.832" />
|
| 303 |
+
<position name="br_joint5_actuator" joint="br_joint5" kp="200" forcerange="-100 100" ctrlrange="-1.22 1.22" />
|
| 304 |
+
<position name="br_joint6_actuator" joint="br_joint6" kp="200" forcerange="-100 100" ctrlrange="-3.14 3.14" />
|
| 305 |
+
<position name="br_joint7_actuator" joint="br_joint7" kp="1000" forcerange="-10 10" ctrlrange="0 0.04" />
|
| 306 |
+
<position name="br_joint8_actuator" joint="br_joint8" kp="1000" forcerange="-10 10" ctrlrange="-0.04 0" />
|
| 307 |
+
</actuator>
|
| 308 |
+
</mujoco>
|
rc-table30-v2__rc-aloha/000049/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
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|
rc-table30-v2__rc-dos-w1/000000/meta.json
ADDED
|
@@ -0,0 +1,135 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Put the blue bowl into the beige bowl, and put the green bowl into the blue bowl.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 3781,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000000/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0260160322337 0.0197382014582 0.0822534702687" quat="0.592043368501 0.409596865521 -0.366640100403 -0.589313239581" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.026153302055 0.0197285161398 0.0822587052485" quat="0.591987094703 0.409549841496 -0.366675326974 -0.589380532105" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000000/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-dos-w1/000002/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
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|
|
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|
|
|
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|
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|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0263002640645 0.0196855046412 0.0822313255126" quat="0.591926164939 0.409510363156 -0.366726736575 -0.589437170876" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.026321894166 0.0196805160079 0.0822277349703" quat="0.591911873835 0.409504792014 -0.366740931511 -0.589446560838" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000004/meta.json
ADDED
|
@@ -0,0 +1,135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Open the drawer, put the bottle opener inside, and close the drawer.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 578,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000004/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
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|
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|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0260937494491 0.0197170501872 0.0822492308299" quat="0.592012840258 0.409574571009 -0.366658186175 -0.589348150302" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.026085410145 0.0197147651771 0.0822803022526" quat="0.591925713432 0.409672599621 -0.366785454929 -0.589288334306" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000004/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-dos-w1/000006/meta.json
ADDED
|
@@ -0,0 +1,135 @@
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
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|
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|
|
|
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|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Put the pens on the desk into the pen holder.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 1200,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000006/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0261211272198 0.0197041757155 0.0822430309945" quat="0.591998830435 0.409567579875 -0.366668452747 -0.589360694346" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0260531712065 0.0197533889317 0.0823097200954" quat="0.592034258377 0.409583691815 -0.366630082022 -0.589337780279" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000006/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-dos-w1/000007/meta.json
ADDED
|
@@ -0,0 +1,135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Pair the two pairs of shoes on the desk and place them on the shoe rack",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 3472,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000010/meta.json
ADDED
|
@@ -0,0 +1,135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Fold the T-shirts and stack them neatly in the upper-left corner of the table.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 10707,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000010/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0261494148076 0.0196985161194 0.0822201502674" quat="0.591984880002 0.409556318065 -0.366680506636 -0.589375033603" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0260559662056 0.0197389413524 0.0822546443685" quat="0.592033140852 0.409575210266 -0.366643576938 -0.589336402031" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000010/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-dos-w1/000013/meta.json
ADDED
|
@@ -0,0 +1,135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Place the ball from the desk onto the small tray, and then move the small tray onto the large tray.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 11721,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000013/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0261607732448 0.0196976331694 0.0822264550299" quat="0.59198205142 0.409552806808 -0.366681399271 -0.589379759291" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0262125953037 0.0197112283635 0.0822057627745" quat="0.592026976207 0.40942309927 -0.366586288127 -0.589483908672" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000013/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-dos-w1/000016/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0263512985806 0.0196628412916 0.08221491105" quat="0.591909297352 0.409492150517 -0.366743248006 -0.589456488992" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0263059871564 0.0196836930597 0.082222639957" quat="0.591917460434 0.409509129312 -0.366734328392 -0.589442045856" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000016/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|
rc-table30-v2__rc-dos-w1/000017/meta.json
ADDED
|
@@ -0,0 +1,135 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Fold the T-shirts and stack them neatly in the upper-left corner of the table.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 9957,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000017/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0263163680363 0.0196743834547 0.0822248524582" quat="0.591920711709 0.409506125453 -0.366731263322 -0.589442774804" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0263309183368 0.0196794522197 0.0822278744237" quat="0.591907474336 0.409502950467 -0.366745241755 -0.589449576329" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000019/meta.json
ADDED
|
@@ -0,0 +1,135 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"format_version": 8,
|
| 3 |
+
"prompt": "Sweep the trash on the table into the dustpan.",
|
| 4 |
+
"mjcf_path": "mjcf/dos-w1_no_mesh.xml",
|
| 5 |
+
"cameras": [
|
| 6 |
+
"global",
|
| 7 |
+
"left_wrist",
|
| 8 |
+
"right_wrist"
|
| 9 |
+
],
|
| 10 |
+
"end_effectors": [
|
| 11 |
+
{
|
| 12 |
+
"object_type": "body",
|
| 13 |
+
"object_name": "left_end_link",
|
| 14 |
+
"radius_mode": "pad_pair",
|
| 15 |
+
"pad_bodies": [
|
| 16 |
+
"left_eef_link1",
|
| 17 |
+
"left_eef_link2"
|
| 18 |
+
],
|
| 19 |
+
"sh_correction": [
|
| 20 |
+
[
|
| 21 |
+
0.0,
|
| 22 |
+
1.0,
|
| 23 |
+
0.0
|
| 24 |
+
],
|
| 25 |
+
[
|
| 26 |
+
-1.0,
|
| 27 |
+
0.0,
|
| 28 |
+
0.0
|
| 29 |
+
],
|
| 30 |
+
[
|
| 31 |
+
0.0,
|
| 32 |
+
0.0,
|
| 33 |
+
1.0
|
| 34 |
+
]
|
| 35 |
+
]
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"object_type": "body",
|
| 39 |
+
"object_name": "right_end_link",
|
| 40 |
+
"radius_mode": "pad_pair",
|
| 41 |
+
"pad_bodies": [
|
| 42 |
+
"right_eef_link1",
|
| 43 |
+
"right_eef_link2"
|
| 44 |
+
],
|
| 45 |
+
"sh_correction": [
|
| 46 |
+
[
|
| 47 |
+
0.0,
|
| 48 |
+
1.0,
|
| 49 |
+
0.0
|
| 50 |
+
],
|
| 51 |
+
[
|
| 52 |
+
-1.0,
|
| 53 |
+
0.0,
|
| 54 |
+
0.0
|
| 55 |
+
],
|
| 56 |
+
[
|
| 57 |
+
0.0,
|
| 58 |
+
0.0,
|
| 59 |
+
1.0
|
| 60 |
+
]
|
| 61 |
+
]
|
| 62 |
+
}
|
| 63 |
+
],
|
| 64 |
+
"skeleton": {
|
| 65 |
+
"mode": "chains",
|
| 66 |
+
"chains": [
|
| 67 |
+
[
|
| 68 |
+
"left_base_link",
|
| 69 |
+
"left_link1",
|
| 70 |
+
"left_link2",
|
| 71 |
+
"left_link3",
|
| 72 |
+
"left_link4",
|
| 73 |
+
"left_link5",
|
| 74 |
+
"left_link6",
|
| 75 |
+
"left_eef_base_link",
|
| 76 |
+
"left_eef_link1",
|
| 77 |
+
"left_eef_link2"
|
| 78 |
+
],
|
| 79 |
+
[
|
| 80 |
+
"right_base_link",
|
| 81 |
+
"right_link1",
|
| 82 |
+
"right_link2",
|
| 83 |
+
"right_link3",
|
| 84 |
+
"right_link4",
|
| 85 |
+
"right_link5",
|
| 86 |
+
"right_link6",
|
| 87 |
+
"right_eef_base_link",
|
| 88 |
+
"right_eef_link1",
|
| 89 |
+
"right_eef_link2"
|
| 90 |
+
]
|
| 91 |
+
],
|
| 92 |
+
"skip_bodies": [],
|
| 93 |
+
"gripper_keypoint_overrides": [
|
| 94 |
+
{
|
| 95 |
+
"ee_object_type": "body",
|
| 96 |
+
"ee_object_name": "left_end_link",
|
| 97 |
+
"finger_bodies": [
|
| 98 |
+
"left_eef_link1",
|
| 99 |
+
"left_eef_link2"
|
| 100 |
+
],
|
| 101 |
+
"closing_axis": 1
|
| 102 |
+
},
|
| 103 |
+
{
|
| 104 |
+
"ee_object_type": "body",
|
| 105 |
+
"ee_object_name": "right_end_link",
|
| 106 |
+
"finger_bodies": [
|
| 107 |
+
"right_eef_link1",
|
| 108 |
+
"right_eef_link2"
|
| 109 |
+
],
|
| 110 |
+
"closing_axis": 1
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"height": 480,
|
| 115 |
+
"width": 640,
|
| 116 |
+
"fps": 10.0,
|
| 117 |
+
"ref_cam_images": {
|
| 118 |
+
"global": "ref_images/global.png",
|
| 119 |
+
"left_wrist": "ref_images/left_wrist.png",
|
| 120 |
+
"right_wrist": "ref_images/right_wrist.png"
|
| 121 |
+
},
|
| 122 |
+
"gt_videos": {
|
| 123 |
+
"global": "gt/global.mp4",
|
| 124 |
+
"left_wrist": "gt/left_wrist.mp4",
|
| 125 |
+
"right_wrist": "gt/right_wrist.mp4"
|
| 126 |
+
},
|
| 127 |
+
"migrated_from": {
|
| 128 |
+
"repo_id": "rc-table30-v2/rc-dos-w1",
|
| 129 |
+
"source_repo_id": "rc-table30-v2/rc-dos-w1",
|
| 130 |
+
"episode_index": 5552,
|
| 131 |
+
"start_frame": 0,
|
| 132 |
+
"source_fps": 30.0,
|
| 133 |
+
"robot_type": "DOS-W1"
|
| 134 |
+
}
|
| 135 |
+
}
|
rc-table30-v2__rc-dos-w1/000019/mjcf/dos-w1_no_mesh.xml
ADDED
|
@@ -0,0 +1,145 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version='1.0' encoding='utf-8'?>
|
| 2 |
+
<mujoco model="mmk2_s_g2_dual_arm_no_mesh">
|
| 3 |
+
<compiler angle="radian" autolimits="true" balanceinertia="true" />
|
| 4 |
+
<option integrator="implicitfast" cone="elliptic" impratio="10" />
|
| 5 |
+
<default>
|
| 6 |
+
<joint damping="0.1" armature="0.01" />
|
| 7 |
+
<geom rgba="0.65 0.68 0.72 1" friction="0.8 0.1 0.1" condim="3" />
|
| 8 |
+
</default>
|
| 9 |
+
<worldbody>
|
| 10 |
+
<light name="top" pos="0 0 2" mode="trackcom" />
|
| 11 |
+
<body name="uranus_robot_base">
|
| 12 |
+
<body name="left_base_link">
|
| 13 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 14 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.00237504577 -0.655552154 -0.0106719631" name="left_base_link_geom" />
|
| 15 |
+
<body name="left_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 16 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 17 |
+
<joint name="left_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 18 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="left_link1_geom" />
|
| 19 |
+
<body name="left_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 20 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 21 |
+
<joint name="left_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 22 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="left_link2_geom" />
|
| 23 |
+
<body name="left_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 24 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 25 |
+
<joint name="left_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 26 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="left_link3_geom" />
|
| 27 |
+
<body name="left_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 28 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 29 |
+
<joint name="left_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 30 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="left_link4_geom" />
|
| 31 |
+
<body name="left_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 32 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 33 |
+
<joint name="left_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 34 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="left_link5_geom" />
|
| 35 |
+
<body name="left_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 36 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 37 |
+
<joint name="left_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 38 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="left_link6_geom" />
|
| 39 |
+
<body name="left_flange" pos="0 0 0" quat="1 0 0 0">
|
| 40 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_flange_geom" />
|
| 41 |
+
<body name="left_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 42 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 43 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="left_eef_base_link_geom" />
|
| 44 |
+
<body name="left_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 45 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 46 |
+
<joint name="left_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 47 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="left_eef_link1_geom" />
|
| 48 |
+
</body>
|
| 49 |
+
<body name="left_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 50 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 51 |
+
<joint name="left_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 52 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="left_eef_link2_geom" />
|
| 53 |
+
</body>
|
| 54 |
+
<body name="left_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 55 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 56 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="left_end_link_geom" />
|
| 57 |
+
</body>
|
| 58 |
+
</body>
|
| 59 |
+
<camera name="left_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0261305387115 0.0197001912585 0.0822297738216" quat="0.591994276105 0.409564357349 -0.366673368486 -0.589364450142" />
|
| 60 |
+
</body>
|
| 61 |
+
</body>
|
| 62 |
+
</body>
|
| 63 |
+
</body>
|
| 64 |
+
</body>
|
| 65 |
+
</body>
|
| 66 |
+
</body>
|
| 67 |
+
<body name="right_base_link" pos="0.002375045767599601 -0.6555521540145097 -0.0106719631089458" quat="0.99947562 -0.0144099227 -0.00943273475 0.0274201252">
|
| 68 |
+
<inertial pos="-0.007609 -0.00070281 0.038353" quat="1 0 0 0" mass="0.7358" diaginertia="0.00056691 0.00068606 0.0010143" />
|
| 69 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0 0.1117" name="right_base_link_geom" />
|
| 70 |
+
<body name="right_link1" pos="0 0 0.1117" quat="1 0 0 0">
|
| 71 |
+
<inertial pos="-6.8774E-06 -0.0010314 -0.014457" quat="1 0 0 0" mass="0.78638" diaginertia="0.00026059 0.00035988 0.00030082" />
|
| 72 |
+
<joint name="right_joint1" type="hinge" axis="0 0 1" range="-2.7475 2.7475" />
|
| 73 |
+
<geom type="sphere" size="0.0322" pos="-6.8774e-06 -0.0010314 -0.014457" name="right_link1_geom" />
|
| 74 |
+
<body name="right_link2" pos="0 0 0" quat="0.136004465 0.135754308 -0.693386792 0.694469805">
|
| 75 |
+
<inertial pos="0.17545 0.0056978 0.005978" quat="1 0 0 0" mass="1.0247" diaginertia="0.00040289 0.003174 0.0033885" />
|
| 76 |
+
<joint name="right_joint2" type="hinge" axis="0 0 1" range="-2.9656 0.1744" />
|
| 77 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.27009 0 0" name="right_link2_geom" />
|
| 78 |
+
<body name="right_link3" pos="0.27009 0 0" quat="0.558060057 -0.000659483833 0.000443518324 0.829800182">
|
| 79 |
+
<inertial pos="-7.1479E-05 0.10773 0.010341" quat="1 0 0 0" mass="0.59643" diaginertia="0.0011117 0.00022817 0.0011062" />
|
| 80 |
+
<joint name="right_joint3" type="hinge" axis="0 0 1" range="-0.08722 3.14" />
|
| 81 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 8.2128e-05 0.29015 0" name="right_link3_geom" />
|
| 82 |
+
<body name="right_link4" pos="8.2128E-05 0.29015 0" quat="0.499998163 -0.5 -0.5 -0.500001837">
|
| 83 |
+
<inertial pos="3.2214E-05 -0.00064503 -0.020926" quat="1 0 0 0" mass="0.37017" diaginertia="0.00011024 0.00013798 0.00011351" />
|
| 84 |
+
<joint name="right_joint4" type="hinge" axis="0 0 1" range="-3.01 3.01" />
|
| 85 |
+
<geom type="sphere" size="0.0322" pos="3.2214e-05 -0.00064503 -0.020926" name="right_link4_geom" />
|
| 86 |
+
<body name="right_link5" pos="0 0 0" quat="0.707105483 0.70710808 0 0">
|
| 87 |
+
<inertial pos="1.0183E-05 0.033415 0.0052853" quat="1 0 0 0" mass="0.40859" diaginertia="0.00014324 0.00015285 0.00014936" />
|
| 88 |
+
<joint name="right_joint5" type="hinge" axis="0 0 1" range="-1.76 1.76" />
|
| 89 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0 0.0864 0" name="right_link5_geom" />
|
| 90 |
+
<body name="right_link6" pos="0 0.0864 0" quat="0.707105483 0 0 0.70710808">
|
| 91 |
+
<inertial pos="-0.011264 1.1814E-06 2.7354E-06" quat="1 0 0 0" mass="0.14593" diaginertia="2.3175e-05 1.2978e-05 1.2976e-05" />
|
| 92 |
+
<joint name="right_joint6" type="hinge" axis="1 0 0" range="-3.009 3.009" />
|
| 93 |
+
<geom type="sphere" size="0.0322" pos="-0.011264 1.1814e-06 2.7354e-06" name="right_link6_geom" />
|
| 94 |
+
<body name="right_flange" pos="0 0 0" quat="1 0 0 0">
|
| 95 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_flange_geom" />
|
| 96 |
+
<body name="right_eef_base_link" pos="0.009 0 0" quat="1 0 0 0">
|
| 97 |
+
<inertial pos="0.046303 -9.8611E-06 -1.4675E-05" quat="1 0 0 0" mass="0.26507" diaginertia="348.368942 198.535197 449.228174" />
|
| 98 |
+
<geom type="capsule" size="0.028" fromto="0 0 0 0.1593 0 0" name="right_eef_base_link_geom" />
|
| 99 |
+
<body name="right_eef_link1" pos="0.0736 0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 100 |
+
<inertial pos="-0.015415 -0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 101 |
+
<joint name="right_eef_joint1" type="slide" axis="0 1 0" range="-0.034 0" />
|
| 102 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.015415 -0.066964 0.014312" name="right_eef_link1_geom" />
|
| 103 |
+
</body>
|
| 104 |
+
<body name="right_eef_link2" pos="0.0736 -0.05 -0.015" quat="0.707105483 0 0.70710808 0">
|
| 105 |
+
<inertial pos="-0.014585 0.066964 0.014312" quat="1 0 0 0" mass="0.078003" diaginertia="34.1905834 54.1781125 27.3518738" />
|
| 106 |
+
<joint name="right_eef_joint2" type="slide" axis="0 1 0" range="0 0.034" />
|
| 107 |
+
<geom type="box" size="0.012 0.045 0.012" pos="-0.014585 0.066964 0.014312" name="right_eef_link2_geom" />
|
| 108 |
+
</body>
|
| 109 |
+
<body name="right_end_link" pos="0.1593 0 0" quat="1 0 0 0">
|
| 110 |
+
<inertial pos="0 0 0" quat="1 0 0 0" mass="1e-08" diaginertia="1e-10 1e-10 1e-10" />
|
| 111 |
+
<geom type="sphere" size="0.0322" pos="0 0 0" name="right_end_link_geom" />
|
| 112 |
+
</body>
|
| 113 |
+
</body>
|
| 114 |
+
<camera name="right_wrist" resolution="640 480" sensorsize="640 480" focal="557.686889648 569.534484863" principal="322.593322754 319.092163086" pos="0.0259979822026 0.0197479293234 0.0822416616652" quat="0.592053143871 0.409593650496 -0.366637077281 -0.589307534203" />
|
| 115 |
+
</body>
|
| 116 |
+
</body>
|
| 117 |
+
</body>
|
| 118 |
+
</body>
|
| 119 |
+
</body>
|
| 120 |
+
</body>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</body>
|
| 124 |
+
<camera name="global" resolution="640 480" sensorsize="640 480" focal="587.888427734 587.671386719" principal="325.081726074 273.266967773" pos="-0.111170981196 -0.274995001014 0.9939040035" quat="0.680705792889 0.161745765382 -0.178634481979 -0.691785843131" />
|
| 125 |
+
</body>
|
| 126 |
+
</worldbody>
|
| 127 |
+
<actuator>
|
| 128 |
+
<position name="left_joint1_actuator" joint="left_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 129 |
+
<position name="left_joint2_actuator" joint="left_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 130 |
+
<position name="left_joint3_actuator" joint="left_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 131 |
+
<position name="left_joint4_actuator" joint="left_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 132 |
+
<position name="left_joint5_actuator" joint="left_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 133 |
+
<position name="left_joint6_actuator" joint="left_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 134 |
+
<position name="left_eef_joint1_actuator" joint="left_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 135 |
+
<position name="left_eef_joint2_actuator" joint="left_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 136 |
+
<position name="right_joint1_actuator" joint="right_joint1" kp="200" forcerange="-12 12" ctrlrange="-2.7475 2.7475" />
|
| 137 |
+
<position name="right_joint2_actuator" joint="right_joint2" kp="200" forcerange="-12 12" ctrlrange="-2.9656 0.1744" />
|
| 138 |
+
<position name="right_joint3_actuator" joint="right_joint3" kp="200" forcerange="-12 12" ctrlrange="-0.08722 3.14" />
|
| 139 |
+
<position name="right_joint4_actuator" joint="right_joint4" kp="200" forcerange="-3 3" ctrlrange="-3.01 3.01" />
|
| 140 |
+
<position name="right_joint5_actuator" joint="right_joint5" kp="200" forcerange="-3 3" ctrlrange="-1.76 1.76" />
|
| 141 |
+
<position name="right_joint6_actuator" joint="right_joint6" kp="200" forcerange="-3 3" ctrlrange="-3.009 3.009" />
|
| 142 |
+
<position name="right_eef_joint1_actuator" joint="right_eef_joint1" kp="1000" forcerange="-3 3" ctrlrange="-0.034 0" />
|
| 143 |
+
<position name="right_eef_joint2_actuator" joint="right_eef_joint2" kp="1000" forcerange="-3 3" ctrlrange="0 0.034" />
|
| 144 |
+
</actuator>
|
| 145 |
+
</mujoco>
|
rc-table30-v2__rc-dos-w1/000019/temporal.json
ADDED
|
The diff for this file is too large to render.
See raw diff
|
|
|