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<?xml version="1.0" encoding="utf-8"?> |
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<mujoco> |
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<compiler angle="radian" coordinate="local" meshdir="../stls" texturedir="../textures"></compiler> |
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<option timestep="0.002" iterations="20" apirate="200"> |
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<flag warmstart="enable"></flag> |
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</option> |
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<size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size> |
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<visual> |
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<map fogstart="3" fogend="5" force="0.1"></map> |
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<quality shadowsize="4096"></quality> |
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</visual> |
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<default> |
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<default class="robot0:asset_class"> |
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<geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom> |
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<joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint> |
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<site size="0.005" rgba="0.4 0.9 0.4 1"></site> |
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<general ctrllimited="true" forcelimited="true"></general> |
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</default> |
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<default class="robot0:D_Touch"> |
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<site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site> |
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</default> |
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<default class="robot0:DC_Hand"> |
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<geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom> |
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</default> |
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<default class="robot0:D_Vizual"> |
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<geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom> |
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</default> |
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<default class="robot0:free"> |
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<joint type="free" damping="0" armature="0" limited="false"></joint> |
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</default> |
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</default> |
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<contact> |
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<pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfdistal" geom2="robot0:C_ffdistal" condim="1"></pair> |
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<pair geom1="robot0:C_rfdistal" geom2="robot0:C_mfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfproximal" geom2="robot0:C_ffproximal" condim="1"></pair> |
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<pair geom1="robot0:C_rfproximal" geom2="robot0:C_mfproximal" condim="1"></pair> |
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<pair geom1="robot0:C_lfproximal" geom2="robot0:C_rfproximal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_mfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfmiddle" condim="1"></pair> |
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<pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfmiddle" condim="1"></pair> |
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</contact> |
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<tendon> |
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<fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:FFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:FFJ1" coef="-0.00805"></joint> |
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</fixed> |
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<fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:MFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:MFJ1" coef="-0.00805"></joint> |
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</fixed> |
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<fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:RFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:RFJ1" coef="-0.00805"></joint> |
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</fixed> |
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<fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:LFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:LFJ1" coef="-0.00805"></joint> |
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</fixed> |
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</tendon> |
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<sensor> |
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<jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos> |
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<jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ3" joint="robot0:FFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ2" joint="robot0:FFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ1" joint="robot0:FFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ0" joint="robot0:FFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ3" joint="robot0:MFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ2" joint="robot0:MFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ1" joint="robot0:MFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ0" joint="robot0:MFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ3" joint="robot0:RFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ2" joint="robot0:RFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ1" joint="robot0:RFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ0" joint="robot0:RFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ4" joint="robot0:LFJ4"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ3" joint="robot0:LFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ2" joint="robot0:LFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ1" joint="robot0:LFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ0" joint="robot0:LFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_THJ4" joint="robot0:THJ4"></jointpos> |
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<jointpos name="robot0:Sjp_THJ3" joint="robot0:THJ3"></jointpos> |
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<jointpos name="robot0:Sjp_THJ2" joint="robot0:THJ2"></jointpos> |
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<jointpos name="robot0:Sjp_THJ1" joint="robot0:THJ1"></jointpos> |
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<jointpos name="robot0:Sjp_THJ0" joint="robot0:THJ0"></jointpos> |
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<touch name="robot0:ST_Tch_fftip" site="robot0:Tch_fftip"></touch> |
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<touch name="robot0:ST_Tch_mftip" site="robot0:Tch_mftip"></touch> |
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<touch name="robot0:ST_Tch_rftip" site="robot0:Tch_rftip"></touch> |
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<touch name="robot0:ST_Tch_lftip" site="robot0:Tch_lftip"></touch> |
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<touch name="robot0:ST_Tch_thtip" site="robot0:Tch_thtip"></touch> |
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</sensor> |
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<actuator> |
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<position name="robot0:WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position> |
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<position name="robot0:WRJ0" class="robot0:asset_class" user="2036" joint="robot0:WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position> |
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<position name="robot0:FFJ3" class="robot0:asset_class" user="2004" joint="robot0:FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:FFJ2" class="robot0:asset_class" user="2002" joint="robot0:FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:FFJ1" class="robot0:asset_class" user="2000" joint="robot0:FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:MFJ3" class="robot0:asset_class" user="2010" joint="robot0:MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:MFJ2" class="robot0:asset_class" user="2008" joint="robot0:MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:MFJ1" class="robot0:asset_class" user="2006" joint="robot0:MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:RFJ3" class="robot0:asset_class" user="2016" joint="robot0:RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:RFJ2" class="robot0:asset_class" user="2014" joint="robot0:RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:RFJ1" class="robot0:asset_class" user="2012" joint="robot0:RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:LFJ4" class="robot0:asset_class" user="2024" joint="robot0:LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:LFJ3" class="robot0:asset_class" user="2022" joint="robot0:LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:LFJ2" class="robot0:asset_class" user="2020" joint="robot0:LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:LFJ1" class="robot0:asset_class" user="2018" joint="robot0:LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:THJ4" class="robot0:asset_class" user="2034" joint="robot0:THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position> |
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<position name="robot0:THJ3" class="robot0:asset_class" user="2032" joint="robot0:THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position> |
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<position name="robot0:THJ2" class="robot0:asset_class" user="2030" joint="robot0:THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position> |
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<position name="robot0:THJ1" class="robot0:asset_class" user="2028" joint="robot0:THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position> |
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<position name="robot0:THJ0" class="robot0:asset_class" user="2026" joint="robot0:THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position> |
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</actuator> |
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<asset> |
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<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture> |
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<texture name="robot0:texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture> |
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<texture name="robot0:texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture> |
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<material name="robot0:MatGnd" reflectance="0.5" texture="robot0:texplane" texrepeat="1 1" texuniform="true"></material> |
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<material name="robot0:MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material> |
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<material name="robot0:MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material> |
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<material name="robot0:object" texture="robot0:texgeom" texuniform="false"></material> |
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<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material> |
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<mesh name="robot0:forearm" file="forearm_electric.stl"></mesh> |
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<mesh name="robot0:forearm_cvx" file="forearm_electric_cvx.stl"></mesh> |
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<mesh name="robot0:wrist" scale="0.001 0.001 0.001" file="wrist.stl"></mesh> |
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<mesh name="robot0:palm" scale="0.001 0.001 0.001" file="palm.stl"></mesh> |
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<mesh name="robot0:knuckle" scale="0.001 0.001 0.001" file="knuckle.stl"></mesh> |
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<mesh name="robot0:F3" scale="0.001 0.001 0.001" file="F3.stl"></mesh> |
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<mesh name="robot0:F2" scale="0.001 0.001 0.001" file="F2.stl"></mesh> |
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<mesh name="robot0:F1" scale="0.001 0.001 0.001" file="F1.stl"></mesh> |
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<mesh name="robot0:lfmetacarpal" scale="0.001 0.001 0.001" file="lfmetacarpal.stl"></mesh> |
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<mesh name="robot0:TH3_z" scale="0.001 0.001 0.001" file="TH3_z.stl"></mesh> |
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<mesh name="robot0:TH2_z" scale="0.001 0.001 0.001" file="TH2_z.stl"></mesh> |
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<mesh name="robot0:TH1_z" scale="0.001 0.001 0.001" file="TH1_z.stl"></mesh> |
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</asset> |
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<worldbody> |
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<body name="robot0:hand mount" pos="0 0 0" euler="1.5708 0 3.14159"> |
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<inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial> |
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<body childclass="robot0:asset_class" name="robot0:forearm" pos="0 0.01 0" euler="0 0 0"> |
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<inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial> |
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<geom class="robot0:D_Vizual" pos="0 0.01 0.04" name="robot0:V_forearm" mesh="robot0:forearm" euler="0 0 1.57"></geom> |
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<geom class="robot0:DC_Hand" name="robot0:C_forearm" type="mesh" mesh="robot0:forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom> |
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<body name="robot0:wrist" pos="0 0 0.256"> |
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|
<inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial> |
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<joint name="robot0:WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005" user="1123"></joint> |
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<geom class="robot0:D_Vizual" name="robot0:V_wrist" mesh="robot0:wrist"></geom> |
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|
<geom class="robot0:DC_Hand" name="robot0:C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom> |
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|
<body name="robot0:palm" pos="0 0 0.034"> |
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|
<inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial> |
|
|
<joint name="robot0:WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005" user="1122"></joint> |
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|
<geom class="robot0:D_Vizual" name="robot0:V_palm" mesh="robot0:palm"></geom> |
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|
<geom class="robot0:DC_Hand" name="robot0:C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom> |
|
|
<body name="robot0:ffknuckle" pos="0.033 0 0.095"> |
|
|
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_ffknuckle" mesh="robot0:knuckle"></geom> |
|
|
<body name="robot0:ffproximal" pos="0 0 0"> |
|
|
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_ffproximal" mesh="robot0:F3"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom> |
|
|
<body name="robot0:ffmiddle" pos="0 0 0.045"> |
|
|
<inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_ffmiddle" mesh="robot0:F2"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom> |
|
|
<body name="robot0:ffdistal" pos="0 0 0.025"> |
|
|
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_ffdistal" pos="0 0 0.001" mesh="robot0:F1"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom> |
|
|
<site name="robot0:S_fftip" pos="0 0 0.026" group="3"></site> |
|
|
<site class="robot0:D_Touch" name="robot0:Tch_fftip"></site> |
|
|
</body> |
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|
</body> |
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|
</body> |
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|
</body> |
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|
<body name="robot0:mfknuckle" pos="0.011 0 0.099"> |
|
|
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_mfknuckle" mesh="robot0:knuckle"></geom> |
|
|
<body name="robot0:mfproximal" pos="0 0 0"> |
|
|
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_mfproximal" mesh="robot0:F3"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom> |
|
|
<body name="robot0:mfmiddle" pos="0 0 0.045"> |
|
|
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_mfmiddle" mesh="robot0:F2"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom> |
|
|
<body name="robot0:mfdistal" pos="0 0 0.025"> |
|
|
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_mfdistal" mesh="robot0:F1"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom> |
|
|
<site name="robot0:S_mftip" pos="0 0 0.026" group="3"></site> |
|
|
<site class="robot0:D_Touch" name="robot0:Tch_mftip"></site> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="robot0:rfknuckle" pos="-0.011 0 0.095"> |
|
|
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_rfknuckle" mesh="robot0:knuckle"></geom> |
|
|
<body name="robot0:rfproximal" pos="0 0 0"> |
|
|
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom> |
|
|
<body name="robot0:rfmiddle" pos="0 0 0.045"> |
|
|
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom> |
|
|
<body name="robot0:rfdistal" pos="0 0 0.025"> |
|
|
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom> |
|
|
<site name="robot0:S_rftip" pos="0 0 0.026" group="3"></site> |
|
|
<site class="robot0:D_Touch" name="robot0:Tch_rftip"></site> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="robot0:lfmetacarpal" pos="-0.017 0 0.044"> |
|
|
<inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom> |
|
|
<body name="robot0:lfknuckle" pos="-0.017 0 0.044"> |
|
|
<inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle"></geom> |
|
|
<body name="robot0:lfproximal" pos="0 0 0"> |
|
|
<inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom> |
|
|
<body name="robot0:lfmiddle" pos="0 0 0.045"> |
|
|
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom> |
|
|
<body name="robot0:lfdistal" pos="0 0 0.025"> |
|
|
<inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom> |
|
|
<site name="robot0:S_lftip" pos="0 0 0.026" group="3"></site> |
|
|
<site class="robot0:D_Touch" name="robot0:Tch_lftip"></site> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785"> |
|
|
<inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint> |
|
|
<geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom> |
|
|
<body name="robot0:thproximal" pos="0 0 0"> |
|
|
<inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom> |
|
|
<body name="robot0:thhub" pos="0 0 0.038"> |
|
|
<inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint> |
|
|
<geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom> |
|
|
<body name="robot0:thmiddle" pos="0 0 0"> |
|
|
<inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom> |
|
|
<body name="robot0:thdistal" pos="0 0 0.032"> |
|
|
<inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial> |
|
|
<joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint> |
|
|
<geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z"></geom> |
|
|
<geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom> |
|
|
<site name="robot0:S_thtip" pos="0 0 0.0275" group="3"></site> |
|
|
<site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
|
|
|
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light> |
|
|
</worldbody> |
|
|
</mujoco> |
|
|
|
