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iyz=\"0.000341\" izz=\"0.005433\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint6\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-0.0175\" soft_upper_limit=\"3.7525\" />\n    <origin rpy=\"1.5707963267948966 0 0\" xyz=\"0 0 0\" />\n    <parent link=\"panda_link5\" />\n    <child link=\"panda_link6\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"12\" lower=\"-0.0175\" upper=\"3.7525\" velocity=\"2.6100\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link7\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/collision/link7.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"1.0517e-02 -4.252e-03 6.1597e-02\" />\n      <mass value=\"0.735522\" />\n      <inertia ixx=\"0.012516\" ixy=\"-0.000428\" ixz=\"-0.001196\" iyy=\"0.010027\" iyz=\"-0.000741\" izz=\"0.004815\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_joint7\" type=\"revolute\">\n    <safety_controller k_position=\"100.0\" k_velocity=\"40.0\" soft_lower_limit=\"-2.8973\" soft_upper_limit=\"2.8973\" />\n    <origin rpy=\"1.5707963267948966 0 0\" xyz=\"0.088 0 0\" />\n    <parent link=\"panda_link6\" />\n    <child link=\"panda_link7\" />\n    <axis xyz=\"0 0 1\" />\n    <limit effort=\"12\" lower=\"-2.8973\" upper=\"2.8973\" velocity=\"2.6100\" />\n    <dynamics D=\"1\" K=\"7000\" damping=\"0.003\" friction=\"0.0\" mu_coulomb=\"0\" mu_viscous=\"16\" />\n  </joint>\n  <link name=\"panda_link8\" />\n  <joint name=\"panda_joint8\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.107\" />\n    <parent link=\"panda_link7\" />\n    <child link=\"panda_link8\" />\n  </joint>\n  <joint name=\"panda_hand_joint\" type=\"fixed\">\n    <parent link=\"panda_link8\" />\n    <child link=\"panda_hand\" />\n    <origin rpy=\"0 0 -0.7853981633974483\" xyz=\"0 0 0\" />\n  </joint>\n  <link name=\"panda_hand\">\n    <collision>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/collision/hand.stl\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"-0.01 0 0.03\" />\n      <mass value=\"0.73\" />\n      <inertia ixx=\"0.001\" ixy=\"0\" ixz=\"0\" iyy=\"0.0025\" iyz=\"0\" izz=\"0.0017\" />\n    </inertial>\n  </link>\n  \n  <link name=\"panda_hand_tcp\" />\n  <joint name=\"panda_hand_tcp_joint\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.1034\" />\n    <parent link=\"panda_hand\" />\n    <child link=\"panda_hand_tcp\" />\n  </joint>\n  <link name=\"panda_leftfinger_pad\" />\n  <joint name=\"panda_leftfinger_pad_joint\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0455\" />\n    <parent link=\"panda_leftfinger\" />\n    <child link=\"panda_leftfinger_pad\" />\n  </joint>\n  <link name=\"panda_rightfinger_pad\" />\n  <joint name=\"panda_rightfinger_pad_joint\" type=\"fixed\">\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0455\" />\n    <parent link=\"panda_rightfinger\" />\n    <child link=\"panda_rightfinger_pad\" />\n  </joint>\n  <link name=\"panda_leftfinger\">\n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 18.5e-3 11e-3\" />\n      <geometry>\n        <box size=\"22e-3 15e-3 20e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 6.8e-3 2.2e-3\" />\n      <geometry>\n        <box size=\"22e-3 8.8e-3 3.8e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0.5235987755982988 0 0\" xyz=\"0 15.9e-3 28.35e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 7e-3 23.5e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 7.58e-3 45.25e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 15.2e-3 18.5e-3\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n      <mass value=\"0.015\" />\n      <inertia ixx=\"2.3749999999999997e-06\" ixy=\"0\" ixz=\"0\" iyy=\"2.3749999999999997e-06\" iyz=\"0\" izz=\"7.5e-07\" />\n    </inertial>\n  </link>\n  <link name=\"panda_rightfinger\">\n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 -18.5e-3 11e-3\" />\n      <geometry>\n        <box size=\"22e-3 15e-3 20e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 -6.8e-3 2.2e-3\" />\n      <geometry>\n        <box size=\"22e-3 8.8e-3 3.8e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"-0.5235987755982988 0 0\" xyz=\"0 -15.9e-3 28.35e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 7e-3 23.5e-3\" />\n      </geometry>\n    </collision>\n    \n    <collision>\n      <origin rpy=\"0 0 0\" xyz=\"0 -7.58e-3 45.25e-3\" />\n      <geometry>\n        <box size=\"17.5e-3 15.2e-3 18.5e-3\" />\n      </geometry>\n    </collision>\n    <inertial>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\" />\n      <mass value=\"0.015\" />\n      <inertia ixx=\"2.3749999999999997e-06\" ixy=\"0\" ixz=\"0\" iyy=\"2.3749999999999997e-06\" iyz=\"0\" izz=\"7.5e-07\" />\n    </inertial>\n  </link>\n  <joint name=\"panda_finger_joint1\" type=\"prismatic\">\n    <parent link=\"panda_hand\" />\n    <child link=\"panda_leftfinger\" />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0584\" />\n    <axis xyz=\"0 1 0\" />\n    <limit effort=\"100\" lower=\"0.0\" upper=\"0.04\" velocity=\"0.2\" />\n    <dynamics damping=\"0.3\" />\n  </joint>\n  <joint name=\"panda_finger_joint2\" type=\"prismatic\">\n    <parent link=\"panda_hand\" />\n    <child link=\"panda_rightfinger\" />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0.0584\" />\n    <axis xyz=\"0 -1 0\" />\n    <limit effort=\"100\" lower=\"0.0\" upper=\"0.04\" velocity=\"0.2\" />\n    <dynamics damping=\"0.3\" />\n  </joint>\n<link name=\"world\" /><joint name=\"frame_panda_link0\" type=\"fixed\"><origin xyz=\"-0.615000009537 2.91038304567e-10 -4.09781932831e-08\" rpy=\"5.4441349561e-10 -6.61142296465e-09 -3.53506463319e-11\" /><parent link=\"world\" /><child link=\"panda_link0\" /></joint><link name=\"table-workspace\" /><joint name=\"frame_table-workspace\" type=\"fixed\"><origin xyz=\"-0.119999997318 0 -0.919642925262\" rpy=\"0 0 1.57079632679\" /><parent link=\"world\" /><child link=\"table-workspace\" /></joint><link name=\"ground\" /><joint name=\"frame_ground\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"world\" /><child link=\"ground\" /></joint><link name=\"cube\" /><joint name=\"frame_cube\" type=\"fixed\"><origin xyz=\"-0.0201907008886 0.0033358335495 0.019999999553\" rpy=\"0 0 2.94707037082\" /><parent link=\"world\" /><child link=\"cube\" /></joint><link name=\"goal_site\" /><joint name=\"frame_goal_site\" type=\"fixed\"><origin xyz=\"-0.0961101204157 0.0546694323421 0.256210327148\" rpy=\"0 0 0\" /><parent link=\"world\" /><child link=\"goal_site\" /></joint><link name=\"visual_panda_link0_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link0.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link0_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link0\" /><child link=\"visual_panda_link0_0\" /></joint><link name=\"visual_panda_link1_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link1.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link1_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link1\" /><child link=\"visual_panda_link1_0\" /></joint><link name=\"visual_panda_link2_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link2.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link2_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link2\" /><child link=\"visual_panda_link2_0\" /></joint><link name=\"visual_panda_link3_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link3.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link3_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link3\" /><child link=\"visual_panda_link3_0\" /></joint><link name=\"visual_panda_link4_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link4.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link4_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link4\" /><child link=\"visual_panda_link4_0\" /></joint><link name=\"visual_panda_link5_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link5.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link5_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link5\" /><child link=\"visual_panda_link5_0\" /></joint><link name=\"visual_panda_link6_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link6.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link6_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link6\" /><child link=\"visual_panda_link6_0\" /></joint><link name=\"visual_panda_link7_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link7.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_link7_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_link7\" /><child link=\"visual_panda_link7_0\" /></joint><link name=\"visual_panda_hand_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/hand.glb\" />\n      </geometry>\n    </visual>\n    </link><joint name=\"visual_panda_hand_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_hand\" /><child link=\"visual_panda_hand_0\" /></joint><link name=\"visual_panda_leftfinger_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/finger.glb\" />\n      </geometry>\n    </visual>\n    \n    </link><joint name=\"visual_panda_leftfinger_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"panda_leftfinger\" /><child link=\"visual_panda_leftfinger_0\" /></joint><link name=\"visual_panda_rightfinger_0\"><visual>\n      <geometry>\n        <mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/finger.glb\" />\n      </geometry>\n    </visual>\n    \n    </link><joint name=\"visual_panda_rightfinger_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 3.14159265359\" /><parent link=\"panda_rightfinger\" /><child link=\"visual_panda_rightfinger_0\" /></joint><link name=\"visual_table-workspace_0\"><visual><geometry><mesh filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/utils/scene_builder/table/assets/table.glb\" scale=\"1.75 1.75 1.75\" /></geometry><material name=\"table-workspace_0\"><color rgba=\"1 1 1 1\" /></material></visual></link><joint name=\"visual_table-workspace_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 1.57079632679\" /><parent link=\"table-workspace\" /><child link=\"visual_table-workspace_0\" /></joint><link name=\"visual_ground_0\"><visual><geometry><mesh filename=\"/worlds/maniskill/scenes/ground.obj\" scale=\"1 1 1\" /></geometry><material name=\"ground_0\"><texture filename=\"https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/utils/building/assets/grid_texture.png\" /><color rgba=\"1 1 1 1\" /></material></visual></link><joint name=\"visual_ground_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"ground\" /><child link=\"visual_ground_0\" /></joint><link name=\"visual_cube_0\"><visual><geometry><box size=\"0.0399999991059 0.0399999991059 0.0399999991059\" /></geometry><material name=\"cube_0\"><color rgba=\"1 0 0 1\" /></material></visual></link><joint name=\"visual_cube_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"cube\" /><child link=\"visual_cube_0\" /></joint><link name=\"visual_goal_site_0\"><visual><geometry><sphere radius=\"0.02500000037252903\" /></geometry><material name=\"goal_site_0\"><color rgba=\"0 1 0 1\" /></material></visual></link><joint name=\"visual_goal_site_0\" type=\"fixed\"><origin xyz=\"0 0 0\" rpy=\"0 0 0\" /><parent link=\"goal_site\" /><child link=\"visual_goal_site_0\" /></joint></robot>",
    "geoms": [
      {
        "name": "visual_panda_link0_0",
        "label": "panda_link0",
        "type": "mesh",
        "parent": "panda_link0",
        "origin": {
          "xyz": [
            0,
            0,
            0
          ],
          "rpy": [
            0,
            0,
            0
          ]
        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link0.glb"
      },
      {
        "name": "visual_panda_link1_0",
        "label": "panda_link1",
        "type": "mesh",
        "parent": "panda_link1",
        "origin": {
          "xyz": [
            0,
            0,
            0
          ],
          "rpy": [
            0,
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          ]
        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link1.glb"
      },
      {
        "name": "visual_panda_link2_0",
        "label": "panda_link2",
        "type": "mesh",
        "parent": "panda_link2",
        "origin": {
          "xyz": [
            0,
            0,
            0
          ],
          "rpy": [
            0,
            0,
            0
          ]
        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link2.glb"
      },
      {
        "name": "visual_panda_link3_0",
        "label": "panda_link3",
        "type": "mesh",
        "parent": "panda_link3",
        "origin": {
          "xyz": [
            0,
            0,
            0
          ],
          "rpy": [
            0,
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        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link3.glb"
      },
      {
        "name": "visual_panda_link4_0",
        "label": "panda_link4",
        "type": "mesh",
        "parent": "panda_link4",
        "origin": {
          "xyz": [
            0,
            0,
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          ],
          "rpy": [
            0,
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        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link4.glb"
      },
      {
        "name": "visual_panda_link5_0",
        "label": "panda_link5",
        "type": "mesh",
        "parent": "panda_link5",
        "origin": {
          "xyz": [
            0,
            0,
            0
          ],
          "rpy": [
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        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link5.glb"
      },
      {
        "name": "visual_panda_link6_0",
        "label": "panda_link6",
        "type": "mesh",
        "parent": "panda_link6",
        "origin": {
          "xyz": [
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            0,
            0
          ],
          "rpy": [
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        },
        "plane": false,
        "excludeFromFit": false,
        "filename": "https://raw.githubusercontent.com/mani-skill/ManiSkill/a4a4f9272ad64b1564035874b605ceb687b63ed8/mani_skill/assets/robots/panda/franka_description/meshes/visual/link6.glb"
      },
      {
        "name": "visual_panda_link7_0",
        "label": "panda_link7",
        "type": "mesh",
        "parent": "panda_link7",
        "origin": {
          "xyz": [
            0,
            0,
            0
          ],
          "rpy": [
            0,
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        },
        "plane": false,
        "excludeFromFit": false,
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      },
      {
        "name": "visual_panda_hand_0",
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        "name": "table-workspace",
        "link": "table-workspace"
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        "name": "ground",
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        {
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              "name": "visual_table-workspace_0",
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              "geom": "visual_table-workspace_0",
              "parent": "table-workspace",
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          ]
        },
        {
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              "kind": "geom",
              "geom": "visual_ground_0",
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          ]
        },
        {
          "name": "cube",
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              "geom": "visual_cube_0",
              "parent": "cube",
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          ]
        },
        {
          "name": "goal_site",
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          "children": [
            {
              "name": "visual_goal_site_0",
              "kind": "geom",
              "geom": "visual_goal_site_0",
              "parent": "goal_site",
              "children": []
            }
          ]
        }
      ]
    },
    "cameras": [],
    "sites": [],
    "objectUrls": [],
    "jointMap": {
      "panda_joint1": 0,
      "panda_joint2": 1,
      "panda_joint3": 2,
      "panda_joint4": 3,
      "panda_joint5": 4,
      "panda_joint6": 5,
      "panda_joint7": 6,
      "panda_finger_joint1": 7,
      "panda_finger_joint2": 8
    },
    "visibility": {
      "id": "sapien-native-visuals"
    },
    "textureWrap": "repeat"
  },
  "displayCamera": {
    "name": "Native render camera",
    "pos": [
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    ],
    "quat": [
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    "fovy": 57.29577951308232,
    "aspectPolicy": "preserve-vertical-span"
  },
  "notes": [
    "Display geometry and native recorded states, not browser physics.",
    "Assets: upstream CC BY-NC 4.0; code: Apache 2.0.",
    "Finger mimic disabled in display URDF to preserve independently recorded native finger positions."
  ]
}