# MuJoCo Menagerie: trossen wxai/wxai follower biarm.xml

Official pinned robot model text for trossen wxai/wxai follower biarm.xml. Inspect the upstream package and adjacent assets before use.

ID: `mujoco-menagerie-artifact-trossen-wxai-wxai-follower-biarm-xml`

Record version: `source-e091ebbab95f07fe156fb2545175194e9b4b05efa31747f24c87d2636b773b36`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/trossen_wxai/README.md

## Source and license

- Repository: https://github.com/google-deepmind/mujoco_menagerie
- Pinned source: https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/trossen_wxai/wxai_follower_biarm.xml
- Revision: `62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35`
- Path: `trossen_wxai/wxai_follower_biarm.xml`
- Source SHA256: `e091ebbab95f07fe156fb2545175194e9b4b05efa31747f24c87d2636b773b36`
- Source bytes: 35919
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/62ab00f2bc44f6f20c1c9b7a13f3fb1dd41a4e35/trossen_wxai/LICENSE)
- License scope: Model/scene description text in this model directory only. Preserve this model-specific license and upstream notices. Included models, meshes, textures, dependencies and trademarks retain their applicable rights; this index does not redistribute them.

License SHA256: `110a998ebd9a901d31173892d43224f8f59f12ebfd6398b9f3dea0ee9a01ab16`

## Artifact

```json
{
  "kind": "robot_model",
  "format": "mjcf",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "root": "mujoco",
    "references": [
      "assets/materials/1k_textures/trossen_BaseColor.png",
      "assets/meshes/d405/camera_mount_d405.obj",
      "assets/meshes/d405/camera_mount_d405_collision.001.obj",
      "assets/meshes/d405/camera_mount_d405_collision.obj",
      "assets/meshes/d405/d405.stl",
      "assets/meshes/wxai/base_link.obj",
      "assets/meshes/wxai/base_link_collision.001.obj",
      "assets/meshes/wxai/base_link_collision.002.obj",
      "assets/meshes/wxai/base_link_collision.003.obj",
      "assets/meshes/wxai/base_link_collision.obj",
      "assets/meshes/wxai/carriage_left.obj",
      "assets/meshes/wxai/carriage_left_collision.obj",
      "assets/meshes/wxai/carriage_right.obj",
      "assets/meshes/wxai/carriage_right_collision.obj",
      "assets/meshes/wxai/gripper_left.obj",
      "assets/meshes/wxai/gripper_left_collision.obj",
      "assets/meshes/wxai/gripper_right.obj",
      "assets/meshes/wxai/gripper_right_collision.obj",
      "assets/meshes/wxai/link_1.obj",
      "assets/meshes/wxai/link_1_collision.001.obj",
      "assets/meshes/wxai/link_1_collision.002.obj",
      "assets/meshes/wxai/link_1_collision.003.obj",
      "assets/meshes/wxai/link_1_collision.obj",
      "assets/meshes/wxai/link_2.obj",
      "assets/meshes/wxai/link_2_collision.001.obj",
      "assets/meshes/wxai/link_2_collision.002.obj",
      "assets/meshes/wxai/link_2_collision.003.obj",
      "assets/meshes/wxai/link_2_collision.obj",
      "assets/meshes/wxai/link_3.obj",
      "assets/meshes/wxai/link_3_collision.001.obj",
      "assets/meshes/wxai/link_3_collision.002.obj",
      "assets/meshes/wxai/link_3_collision.003.obj",
      "assets/meshes/wxai/link_3_collision.004.obj",
      "assets/meshes/wxai/link_3_collision.obj",
      "assets/meshes/wxai/link_4.obj",
      "assets/meshes/wxai/link_4_collision.001.obj",
      "assets/meshes/wxai/link_4_collision.002.obj",
      "assets/meshes/wxai/link_4_collision.obj",
      "assets/meshes/wxai/link_5.obj",
      "assets/meshes/wxai/link_5_collision.obj"
    ],
    "references_truncated": true
  }
}
```

## Requirements

```json
{
  "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
  "packages": [
    "MuJoCo version specified by the pinned model README",
    "Adjacent upstream meshes and included XML definitions"
  ],
  "display": "Model XML often references adjacent meshes or other model XML. Viewer/rendering and MuJoCo/MJX version requirements are model-specific; this index does not fetch those assets or load a model.",
  "execution_domain": "simulation",
  "source_imports": []
}
```

## Invocation

```json
{
  "entrypoint": "Data/configuration artifact: trossen_wxai/wxai_follower_biarm.xml; use its upstream loader or package integration after inspection",
  "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.