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twanghcmut/ego-real2sim / basic_pick_place_multi /scene.xml
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<mujoco model="MuJoCo Model">
<compiler angle="radian"/>
<visual>
<global offwidth="1920" offheight="1080"/>
<headlight ambient="0.45 0.45 0.45" diffuse="0.6 0.6 0.6"/>
</visual>
<asset>
<texture type="2d" colorspace="auto" name="grid" builtin="checker" rgb1="0.3 0.32 0.36" rgb2="0.4 0.42 0.46" width="256" height="256"/>
<material name="grid" texture="grid" texrepeat="20 20"/>
</asset>
<worldbody>
<geom name="floor" size="10 10 0.1" pos="0 0 0.737064" type="plane" rgba="0.78 0.74 0.67 1"/>
<camera name="overview" quat="0.631177 0.396886 0.354735 0.564145" pos="0.631735 0.602613 1.19967"/>
<light pos="0 0 3" diffuse="0.5 0.5 0.5"/>
<body name="left_Wrist">
<joint name="left_Wrist" type="free"/>
<geom size="0.01 0.0212976" pos="0.0058085 0.0153348 0.0135901" quat="0.425378 0.846336 -0.320575 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<geom size="0.01 0.0497249" pos="-0.0157616 0.0432827 0.0187283" quat="0.558284 0.77957 0.283884 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<geom size="0.01 0.0516659" pos="-0.0217009 0.0463779 0.00689348" quat="0.658246 0.681851 0.319048 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<geom size="0.01 0.0465623" pos="-0.020252 0.0413174 -0.00712605" quat="0.75929 0.584333 0.286415 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<geom size="0.01 0.0448382" pos="-0.0163623 0.0378116 -0.0176924" quat="0.83504 0.50494 0.218504 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<body name="left_Thumb1" pos="0.011617 0.0306696 0.0271802">
<joint name="left_Thumb1" type="ball"/>
<geom size="0.0078 0.0182622" pos="-0.00185238 0.0153958 0.00964612" quat="0.485695 0.867869 0.10442 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<body name="left_Thumb2" pos="-0.00370477 0.0307915 0.0192922">
<joint name="left_Thumb2" type="ball"/>
<geom size="0.0078 0.0157682" pos="-0.00582909 0.0128417 0.00705328" quat="0.525685 0.774612 0.351612 0" type="capsule" rgba="0.86 0.64 0.52 1"/>
<body name="left_Thumb3" pos="-0.0116582 0.0256834 0.0141066">
<joint name="left_Thumb3" type="ball"/>
<geom size="0.0065 0.0210132" pos="-0.00566778 0.0202321 0.000299536" quat="0.702049 0.68573 0.192099 0" type="capsule" rgba="0.688 0.512 0.416 0.8"/>
<body name="left_Thumb4" pos="-0.0113356 0.0404643 0.000599072">
<joint name="left_Thumb4" type="ball"/>
<geom size="0.0065" rgba="0.688 0.512 0.416 0.8"/>
</body>
</body>
</body>
</body>
<body name="left_Index1" pos="-0.0315232 0.0865653 0.0374566">
<joint name="left_Index1" type="ball"/>
<geom size="0.0078 0.0191094" pos="-0.0066744 0.0178374 -0.00156575" quat="0.735505 0.634551 0.237437 0" type="capsule" 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"/>
<geom size="0.0078 0.0133699" pos="0.0103941 0.00754532 -0.00371279" quat="0.79928 0.353038 -0.486328 0" type="capsule" 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"/>
<geom size="0.0065 0.0150692" pos="0.0146487 0.00303091 -0.00181917" quat="0.748572 0.134345 -0.6493 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0184629" pos="-0.000350484 0.0181647 -0.0032863" quat="0.767462 0.640976 0.0123675 0" type="capsule" 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"/>
<geom size="0.0078 0.0140021" pos="0.0111641 0.00788259 -0.0030474" quat="0.780269 0.360746 -0.510924 0" type="capsule" 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"/>
<geom size="0.0065 0.0152695" pos="0.0152434 0.000633003 0.000629467" quat="0.692379 0.0299369 -0.720913 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0168452" pos="0.00111 0.0167689 0.00115539" quat="0.682426 0.729358 -0.0482792 0" type="capsule" 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"/>
<geom size="0.0078 0.0152687" pos="0.0120138 0.00940352 -0.000613769" quat="0.721179 0.426988 -0.545511 0" type="capsule" 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"/>
<geom size="0.0065 0.0150118" pos="0.0148233 -0.00185583 0.00147646" quat="0.671434 -0.09206 -0.735324 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0129462" pos="0.00330773 0.0125037 0.00056525" quat="0.691498 0.698356 -0.184743 0" type="capsule" 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"/>
<geom size="0.0078 0.0119524" pos="0.0087892 0.00797836 0.00139803" quat="0.664467 0.502293 -0.55334 0" type="capsule" 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"/>
<geom size="0.0065 0.0118533" pos="0.0114427 0.000801213 0.00298712" quat="0.611552 0.0552643 -0.789272 0" type="capsule" 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"/>
<geom size="0.0065" 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" 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" 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" 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" 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" 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"/>
<geom size="0.0078 0.0179916" pos="-0.00699383 0.0164001 -0.00241246" quat="0.753023 0.605256 0.258112 0" type="capsule" 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"/>
<geom size="0.0078 0.0155267" pos="-0.00753961 0.0135618 0.000555791" quat="0.694336 0.628984 0.349681 0" type="capsule" 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"/>
<geom size="0.0065 0.0208244" pos="0.000824041 0.018452 -0.00961775" quat="0.854942 0.518208 -0.0231425 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0188073" pos="0.000563614 0.0168444 -0.00834656" quat="0.849645 0.52706 -0.0176355 0" type="capsule" 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"/>
<geom size="0.0078 0.0131222" pos="-0.0054594 0.000730617 -0.0119102" quat="0.976637 0.028505 0.212998 0" type="capsule" 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"/>
<geom size="0.0065 0.0147698" pos="-0.00875467 0.00261139 -0.0116053" quat="0.94492 0.093556 0.313646 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0182982" pos="-0.00695374 0.00934995 -0.0141084" quat="0.941018 0.271502 0.201921 0" type="capsule" 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"/>
<geom size="0.0078 0.01379" pos="-0.00675479 0.00137774 -0.0119432" quat="0.965938 0.0517159 0.253553 0" type="capsule" 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"/>
<geom size="0.0065 0.0152201" pos="-0.010312 -0.0012122 -0.0111286" quat="0.93037 -0.0428027 0.364115 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0166071" pos="-0.00873101 0.00956667 -0.0103944" quat="0.901638 0.319452 0.291547 0" type="capsule" 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"/>
<geom size="0.0078 0.0149809" pos="-0.00952893 0.00456809 -0.0106189" quat="0.924344 0.164942 0.344066 0" type="capsule" 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"/>
<geom size="0.0065 0.015051" pos="-0.0114509 -0.00172967 -0.0096133" quat="0.905184 -0.0634792 0.420252 0" type="capsule" 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"/>
<geom size="0.0065" 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"/>
<geom size="0.0078 0.0127021" pos="-0.00680088 0.00886909 -0.00603582" quat="0.858831 0.406504 0.31171 0" type="capsule" 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"/>
<geom size="0.0078 0.0117048" pos="-0.00598643 0.00667105 -0.00752743" quat="0.906396 0.3144 0.282134 0" type="capsule" 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"/>
<geom size="0.0065 0.0116348" pos="-0.00831025 0.00345049 -0.00737574" quat="0.903864 0.164055 0.395115 0" type="capsule" 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"/>
<geom size="0.0065" 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>
</worldbody>
</mujoco>

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10323957cdea2344144e02bd0b4eb9f7a65fdae87c90cdfcb89cc524a3354440

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