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| </body> | |
| <body name="left_Index1" pos="-0.0315232 0.0865653 0.0374566"> | |
| <joint name="left_Index1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0191094" pos="-0.0066744 0.0178374 -0.00156575" quat="0.735505 0.634551 0.237437 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Index2" pos="-0.0133488 0.0356747 -0.0031315"> | |
| <joint name="left_Index2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0133699" pos="0.0103941 0.00754532 -0.00371279" quat="0.79928 0.353038 -0.486328 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Index3" pos="0.0207881 0.0150906 -0.00742558"> | |
| <joint name="left_Index3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0150692" pos="0.0146487 0.00303091 -0.00181917" quat="0.748572 0.134345 -0.6493 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="left_Index4" pos="0.0292973 0.00606182 -0.00363833"> | |
| <joint name="left_Index4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="left_Middle1" pos="-0.0434019 0.0927559 0.013787"> | |
| <joint name="left_Middle1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0184629" pos="-0.000350484 0.0181647 -0.0032863" quat="0.767462 0.640976 0.0123675 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Middle2" pos="-0.000700968 0.0363294 -0.0065726"> | |
| <joint name="left_Middle2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0140021" pos="0.0111641 0.00788259 -0.0030474" quat="0.780269 0.360746 -0.510924 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Middle3" pos="0.0223282 0.0157652 -0.00609479"> | |
| <joint name="left_Middle3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0152695" pos="0.0152434 0.000633003 0.000629467" quat="0.692379 0.0299369 -0.720913 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="left_Middle4" pos="0.0304868 0.00126601 0.00125893"> | |
| <joint name="left_Middle4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="left_Ring1" pos="-0.040504 0.0826348 -0.0142521"> | |
| <joint name="left_Ring1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0168452" pos="0.00111 0.0167689 0.00115539" quat="0.682426 0.729358 -0.0482792 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Ring2" pos="0.00222 0.0335377 0.00231078"> | |
| <joint name="left_Ring2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0152687" pos="0.0120138 0.00940352 -0.000613769" quat="0.721179 0.426988 -0.545511 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Ring3" pos="0.0240275 0.018807 -0.00122754"> | |
| <joint name="left_Ring3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0150118" pos="0.0148233 -0.00185583 0.00147646" quat="0.671434 -0.09206 -0.735324 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="left_Ring4" pos="0.0296467 -0.00371166 0.00295292"> | |
| <joint name="left_Ring4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="left_Little1" pos="-0.0327247 0.0756233 -0.0353849"> | |
| <joint name="left_Little1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0129462" pos="0.00330773 0.0125037 0.00056525" quat="0.691498 0.698356 -0.184743 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Little2" pos="0.00661546 0.0250074 0.0011305"> | |
| <joint name="left_Little2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0119524" pos="0.0087892 0.00797836 0.00139803" quat="0.664467 0.502293 -0.55334 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="left_Little3" pos="0.0175784 0.0159567 0.00279606"> | |
| <joint name="left_Little3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0118533" pos="0.0114427 0.000801213 0.00298712" quat="0.611552 0.0552643 -0.789272 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="left_Little4" pos="0.0228854 0.00160243 0.00597424"> | |
| <joint name="left_Little4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_Wrist"> | |
| <joint name="right_Wrist" type="free" /> | |
| <geom size="0.01 0.0210819" pos="-0.0147295 0.0150388 0.00115083" quat="0.687536 0.518773 0.508103 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <geom size="0.01 0.0492426" pos="-0.00558047 0.0476881 0.0109335" quat="0.623685 0.776378 0.0908519 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <geom size="0.01 0.0511969" pos="0.00679165 0.050409 0.00582471" quat="0.665669 0.739565 -0.0996422 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <geom size="0.01 0.0462169" pos="0.0160084 0.0432099 -0.00355503" quat="0.733799 0.637053 -0.236016 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <geom size="0.01 0.0445196" pos="0.0209858 0.0372667 -0.0123604" quat="0.799262 0.523662 -0.294887 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Thumb1" pos="-0.0294589 0.0300775 0.00230167"> | |
| <joint name="right_Thumb1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0179916" pos="-0.00699383 0.0164001 -0.00241246" quat="0.753023 0.605256 0.258112 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Thumb2" pos="-0.0139877 0.0328002 -0.00482492"> | |
| <joint name="right_Thumb2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0155267" pos="-0.00753961 0.0135618 0.000555791" quat="0.694336 0.628984 0.349681 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Thumb3" pos="-0.0150792 0.0271236 0.00111158"> | |
| <joint name="right_Thumb3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0208244" pos="0.000824041 0.018452 -0.00961775" quat="0.854942 0.518208 -0.0231425 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="right_Thumb4" pos="0.00164808 0.0369039 -0.0192355"> | |
| <joint name="right_Thumb4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_Index1" pos="-0.0111609 0.0953762 0.021867"> | |
| <joint name="right_Index1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0188073" pos="0.000563614 0.0168444 -0.00834656" quat="0.849645 0.52706 -0.0176355 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Index2" pos="0.00112723 0.0336888 -0.0166931"> | |
| <joint name="right_Index2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0131222" pos="-0.0054594 0.000730617 -0.0119102" quat="0.976637 0.028505 0.212998 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Index3" pos="-0.0109188 0.00146123 -0.0238204"> | |
| <joint name="right_Index3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0147698" pos="-0.00875467 0.00261139 -0.0116053" quat="0.94492 0.093556 0.313646 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="right_Index4" pos="-0.0175093 0.00522277 -0.0232106"> | |
| <joint name="right_Index4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_Middle1" pos="0.0135833 0.100818 0.0116494"> | |
| <joint name="right_Middle1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0182982" pos="-0.00695374 0.00934995 -0.0141084" quat="0.941018 0.271502 0.201921 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Middle2" pos="-0.0139075 0.0186999 -0.0282169"> | |
| <joint name="right_Middle2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.01379" pos="-0.00675479 0.00137774 -0.0119432" quat="0.965938 0.0517159 0.253553 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Middle3" pos="-0.0135096 0.00275549 -0.0238863"> | |
| <joint name="right_Middle3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0152201" pos="-0.010312 -0.0012122 -0.0111286" quat="0.93037 -0.0428027 0.364115 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="right_Middle4" pos="-0.020624 -0.0024244 -0.0222572"> | |
| <joint name="right_Middle4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_Ring1" pos="0.0320169 0.0864198 -0.00711006"> | |
| <joint name="right_Ring1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0166071" pos="-0.00873101 0.00956667 -0.0103944" quat="0.901638 0.319452 0.291547 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Ring2" pos="-0.017462 0.0191333 -0.0207888"> | |
| <joint name="right_Ring2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0149809" pos="-0.00952893 0.00456809 -0.0106189" quat="0.924344 0.164942 0.344066 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Ring3" pos="-0.0190579 0.00913618 -0.0212377"> | |
| <joint name="right_Ring3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.015051" pos="-0.0114509 -0.00172967 -0.0096133" quat="0.905184 -0.0634792 0.420252 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="right_Ring4" pos="-0.0229019 -0.00345934 -0.0192266"> | |
| <joint name="right_Ring4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_Little1" pos="0.0419717 0.0745334 -0.0247208"> | |
| <joint name="right_Little1" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0127021" pos="-0.00680088 0.00886909 -0.00603582" quat="0.858831 0.406504 0.31171 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Little2" pos="-0.0136018 0.0177382 -0.0120716"> | |
| <joint name="right_Little2" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0078 0.0117048" pos="-0.00598643 0.00667105 -0.00752743" quat="0.906396 0.3144 0.282134 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.86 0.64 0.52 1" /> | |
| <body name="right_Little3" pos="-0.0119729 0.0133421 -0.0150549"> | |
| <joint name="right_Little3" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065 0.0116348" pos="-0.00831025 0.00345049 -0.00737574" quat="0.903864 0.164055 0.395115 0" type="capsule" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| <body name="right_Little4" pos="-0.0166205 0.00690098 -0.0147515"> | |
| <joint name="right_Little4" type="ball" armature="0.0001" damping="0.015" /> | |
| <geom size="0.0065" contype="2" conaffinity="5" friction="0.8 0.01 0.001" rgba="0.688 0.512 0.416 0.8" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="ego_mount" mocap="true"> | |
| <camera name="ego" fovy="72.4876" /> | |
| </body> | |
| <body name="prop_stapler" pos="0.0826685532334 0.71510848331 0.775490211426" quat="1 0 0 0"> | |
| <joint name="prop_stapler_free" type="free" /> | |
| <geom name="prop_stapler_visual" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_stapler_material" mesh="prop_stapler_mesh" /> | |
| <geom name="prop_stapler_collision" quat="1 0 0 0" type="mesh" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.1" mesh="prop_stapler_hull" /> | |
| </body> | |
| <body name="prop_phone" pos="0.0136329779814 0.648000853369 0.75041586401" quat="1 0 0 0"> | |
| <joint name="prop_phone_free" type="free" /> | |
| <geom name="prop_phone_visual" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_phone_material" mesh="prop_phone_mesh" /> | |
| <geom name="prop_phone_collision" quat="1 0 0 0" type="mesh" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.18" mesh="prop_phone_hull" /> | |
| </body> | |
| <body name="prop_popit" pos="0.237584273373 0.706679445951 0.762003848683" quat="1 0 0 0"> | |
| <joint name="prop_popit_free" type="free" /> | |
| <geom name="prop_popit_visual" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_popit_material" mesh="prop_popit_mesh" /> | |
| <geom name="prop_popit_collision" quat="1 0 0 0" type="mesh" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.08" mesh="prop_popit_hull" /> | |
| </body> | |
| <body name="prop_pliers" pos="0.203232263665 1.01351810035 0.761281700907" quat="1 0 0 0"> | |
| <joint name="prop_pliers_free" type="free" /> | |
| <geom name="prop_pliers_visual" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_pliers_material" mesh="prop_pliers_mesh" /> | |
| <geom name="prop_pliers_collision" quat="1 0 0 0" type="mesh" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.12" mesh="prop_pliers_hull" /> | |
| </body> | |
| <body name="prop_tray" pos="-0.172212742591 0.954693070672 0.773004356696" quat="1 0 0 0"> | |
| <joint name="prop_tray_free" type="free" /> | |
| <geom name="prop_tray_visual" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_tray_material" mesh="prop_tray_mesh" /> | |
| <geom name="prop_tray_collision_0" size="0.156645 0.215535 0.002" pos="-0.000122186 0.000178667 -0.0329406" quat="0.995475 0 0 0.0950201" type="box" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.0338919" /> | |
| <geom name="prop_tray_collision_1" size="0.002 0.215535 0.0349406" pos="-0.151975 -0.0290772 0" quat="0.995475 0 0 0.0950201" type="box" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.00755978" /> | |
| <geom name="prop_tray_collision_2" size="0.002 0.215535 0.0349406" pos="0.151731 0.0294345 0" quat="0.995475 0 0 0.0950201" type="box" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.00755978" /> | |
| <geom name="prop_tray_collision_3" size="0.156645 0.002 0.0349406" pos="0.0402745 -0.209501 0" quat="0.995475 0 0 0.0950201" type="box" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.00549425" /> | |
| <geom name="prop_tray_collision_4" size="0.156645 0.002 0.0349406" pos="-0.0405188 0.209858 0" quat="0.995475 0 0 0.0950201" type="box" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.00549425" /> | |
| </body> | |
| <body name="prop_cube" pos="-0.134210102584 1.05893986882 0.786127579217" quat="1 0 0 0"> | |
| <joint name="prop_cube_free" type="free" /> | |
| <geom name="prop_cube_visual" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_cube_material" mesh="prop_cube_mesh" /> | |
| <geom name="prop_cube_collision" quat="1 0 0 0" type="mesh" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.045" mesh="prop_cube_hull" /> | |
| </body> | |
| <body name="prop_hammer" pos="-0.241016416413 0.889245379397 0.766434945467" quat="1 0 0 0"> | |
| <joint name="prop_hammer_free" type="free" /> | |
| <geom name="prop_hammer_visual" pos="0 0 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" mass="0" material="prop_hammer_material" mesh="prop_hammer_mesh" /> | |
| <geom name="prop_hammer_collision" quat="1 0 0 0" type="mesh" contype="4" conaffinity="7" condim="4" group="3" priority="1" friction="0.8 0.01 0.001" solref="0.01" rgba="0 0 0 0" mass="0.06" mesh="prop_hammer_hull" /> | |
| </body> | |
| <body name="left_target" mocap="true" /> | |
| <body name="right_target" mocap="true" /> | |
| </worldbody> | |
| <equality> | |
| <weld name="left_weld" body1="left_target" body2="left_Wrist" relpose="0 0 0 1 0 0 0" solref="0.015" /> | |
| <weld name="right_weld" body1="right_target" body2="right_Wrist" relpose="0 0 0 1 0 0 0" solref="0.015" /> | |
| </equality> | |
| <actuator> | |
| <general name="left_Thumb1_0" joint="left_Thumb1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb1_1" joint="left_Thumb1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb1_2" joint="left_Thumb1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb2_0" joint="left_Thumb2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb2_1" joint="left_Thumb2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb2_2" joint="left_Thumb2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb3_0" joint="left_Thumb3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb3_1" joint="left_Thumb3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb3_2" joint="left_Thumb3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb4_0" joint="left_Thumb4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb4_1" joint="left_Thumb4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Thumb4_2" joint="left_Thumb4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index1_0" joint="left_Index1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index1_1" joint="left_Index1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index1_2" joint="left_Index1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index2_0" joint="left_Index2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index2_1" joint="left_Index2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index2_2" joint="left_Index2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index3_0" joint="left_Index3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index3_1" joint="left_Index3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index3_2" joint="left_Index3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index4_0" joint="left_Index4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index4_1" joint="left_Index4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Index4_2" joint="left_Index4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle1_0" joint="left_Middle1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle1_1" joint="left_Middle1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle1_2" joint="left_Middle1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle2_0" joint="left_Middle2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle2_1" joint="left_Middle2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle2_2" joint="left_Middle2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle3_0" joint="left_Middle3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle3_1" joint="left_Middle3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle3_2" joint="left_Middle3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle4_0" joint="left_Middle4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle4_1" joint="left_Middle4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Middle4_2" joint="left_Middle4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring1_0" joint="left_Ring1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring1_1" joint="left_Ring1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring1_2" joint="left_Ring1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring2_0" joint="left_Ring2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring2_1" joint="left_Ring2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring2_2" joint="left_Ring2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring3_0" joint="left_Ring3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring3_1" joint="left_Ring3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring3_2" joint="left_Ring3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring4_0" joint="left_Ring4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring4_1" joint="left_Ring4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Ring4_2" joint="left_Ring4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little1_0" joint="left_Little1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little1_1" joint="left_Little1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little1_2" joint="left_Little1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little2_0" joint="left_Little2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little2_1" joint="left_Little2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little2_2" joint="left_Little2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little3_0" joint="left_Little3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little3_1" joint="left_Little3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little3_2" joint="left_Little3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little4_0" joint="left_Little4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little4_1" joint="left_Little4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="left_Little4_2" joint="left_Little4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb1_0" joint="right_Thumb1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb1_1" joint="right_Thumb1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb1_2" joint="right_Thumb1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb2_0" joint="right_Thumb2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb2_1" joint="right_Thumb2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb2_2" joint="right_Thumb2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb3_0" joint="right_Thumb3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb3_1" joint="right_Thumb3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb3_2" joint="right_Thumb3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb4_0" joint="right_Thumb4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb4_1" joint="right_Thumb4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Thumb4_2" joint="right_Thumb4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index1_0" joint="right_Index1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index1_1" joint="right_Index1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index1_2" joint="right_Index1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index2_0" joint="right_Index2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index2_1" joint="right_Index2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index2_2" joint="right_Index2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index3_0" joint="right_Index3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index3_1" joint="right_Index3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index3_2" joint="right_Index3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index4_0" joint="right_Index4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index4_1" joint="right_Index4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Index4_2" joint="right_Index4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle1_0" joint="right_Middle1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle1_1" joint="right_Middle1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle1_2" joint="right_Middle1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle2_0" joint="right_Middle2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle2_1" joint="right_Middle2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle2_2" joint="right_Middle2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle3_0" joint="right_Middle3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle3_1" joint="right_Middle3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle3_2" joint="right_Middle3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle4_0" joint="right_Middle4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle4_1" joint="right_Middle4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Middle4_2" joint="right_Middle4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring1_0" joint="right_Ring1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring1_1" joint="right_Ring1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring1_2" joint="right_Ring1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring2_0" joint="right_Ring2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring2_1" joint="right_Ring2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring2_2" joint="right_Ring2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring3_0" joint="right_Ring3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring3_1" joint="right_Ring3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring3_2" joint="right_Ring3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring4_0" joint="right_Ring4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring4_1" joint="right_Ring4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Ring4_2" joint="right_Ring4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little1_0" joint="right_Little1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little1_1" joint="right_Little1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little1_2" joint="right_Little1" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little2_0" joint="right_Little2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little2_1" joint="right_Little2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little2_2" joint="right_Little2" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little3_0" joint="right_Little3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little3_1" joint="right_Little3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little3_2" joint="right_Little3" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little4_0" joint="right_Little4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little4_1" joint="right_Little4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| <general name="right_Little4_2" joint="right_Little4" ctrlrange="-3.14159 3.14159" ctrllimited="true" forcelimited="true" forcerange="-2 2" gear="0 0 1" biastype="affine" gainprm="0.8" biasprm="0 -0.8 -0.025" /> | |
| </actuator> | |
| </mujoco> |
Xet Storage Details
- Size:
- 377 kB
- Xet hash:
- 68554889c6b44e26fa440301ded585b5cf4149ad8753822516de01b41dcf0094
·
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