assets(tianji_wuji): fused WUJI hand graft — new tianji_wuji.usd + wuji_hand/fused bundle
#10
by Everloom - opened
This view is limited to 50 files because it contains too many changes. See the raw diff here.
- .gitattributes +58 -0
- robots/tianji_wuji/tianji_wuji.usd +2 -2
- robots/tianji_wuji/tianji_wuji.xml +128 -54
- robots/tianji_wuji/wuji_hand/fused/left/.asset_hash +1 -0
- robots/tianji_wuji/wuji_hand/fused/left/config.yaml +28 -0
- robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd +3 -0
- robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_physics.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_robot.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_sensor.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left/textures/wuji_logo_placeholder.png +3 -0
- robots/tianji_wuji/wuji_hand/fused/left/wujihand.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/.asset_hash +1 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/config.yaml +28 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd +3 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_physics.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_robot.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_sensor.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/textures/wuji_logo_placeholder.png +3 -0
- robots/tianji_wuji/wuji_hand/fused/left_simplified/wujihand.usd +0 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger1_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger2_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger3_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger4_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger5_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger1_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger2_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger3_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger4_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger5_tip.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link1__SilverNail.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link2__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link3__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__SilverNail.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link1__SilverNail.stl +0 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link2__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link3__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__SilverNail.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link1__SilverNail.stl +0 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link2__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link3__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__SilverNail.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link1__SilverNail.stl +0 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link2__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link3__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__BlackGlove.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__SilverNail.stl +3 -0
- robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link1__SilverNail.stl +0 -0
.gitattributes
CHANGED
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@@ -822,3 +822,61 @@ assets/articulated/artvip/oven_7/usd/model.usd filter=lfs diff=lfs merge=lfs -te
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assets/articulated/artvip/oven_8/meshes/visual/E_body_9/E_body_9_7.obj filter=lfs diff=lfs merge=lfs -text
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assets/articulated/artvip/oven_8/usd/model.usd filter=lfs diff=lfs merge=lfs -text
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assets/articulated/artvip/refrigerator_1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
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assets/articulated/artvip/oven_8/meshes/visual/E_body_9/E_body_9_7.obj filter=lfs diff=lfs merge=lfs -text
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| 823 |
assets/articulated/artvip/oven_8/usd/model.usd filter=lfs diff=lfs merge=lfs -text
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| 824 |
assets/articulated/artvip/refrigerator_1/usd/model.usd filter=lfs diff=lfs merge=lfs -text
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+
robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/right/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/right_simplified/configuration/wujihand_base.usd filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link1__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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| 830 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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| 831 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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| 832 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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| 833 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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| 834 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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| 835 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_palm_link__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link1__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link2__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link3__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_palm_link__BlackGlove.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger1_tip.stl filter=lfs diff=lfs merge=lfs -text
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| 869 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger2_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger3_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger4_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_left_hand_finger5_tip.stl filter=lfs diff=lfs merge=lfs -text
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| 873 |
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger1_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger2_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger3_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger4_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_collision/fvc_right_hand_finger5_tip.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__SilverNail.stl filter=lfs diff=lfs merge=lfs -text
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robots/tianji_wuji/tianji_wuji.usd
CHANGED
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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-
oid sha256:
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-
size
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version https://git-lfs.github.com/spec/v1
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oid sha256:5b1f270a480a6ccc239da0f6e756059bf7efe5f65029441dca7e32ef096299a1
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size 63987895
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robots/tianji_wuji/tianji_wuji.xml
CHANGED
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@@ -142,6 +142,60 @@
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<mesh name="right_hand_finger5_link4_simplified" content_type="model/stl" file="../wuji-description/hand/body-with-soft/meshes/right/right_finger5_link4_simplified.STL"/>
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<mesh name="right_hand_finger5_tip_link" content_type="model/stl" file="../wuji-description/hand/body-with-soft/meshes/right/right_finger5_tip_link.STL"/>
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<mesh name="right_hand_direct_adapter_mount" content_type="model/stl" file="../wuji-description/hand/attachment/direct-adapter/meshes/right_direct_adapter_mount.STL"/>
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</asset>
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<worldbody>
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= (0, -0.126, -0.0006). Replaces the old 'fine-tune against CAD' placeholder. -->
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<body name="left_hand_palm_link" pos="0 -0.126 -0.0006" quat="0 0 -0.70710678 0.70710678" childclass="wuji_hand">
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| 238 |
<inertial pos="0.00152445269 -0.00264234622 0.0376699164" mass="0.16914" quat="-0.01772809 0.04274722 0.09308295 -0.9945823" diaginertia="1.40677446e-04 9.58896475e-05 5.81329061e-05"/>
|
| 239 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 240 |
<geom name="left_hand_palm_collision" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_palm_link_collision" contype="1" conaffinity="1"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 241 |
<body name="left_hand_finger1_link1" pos="0.0085244 -0.020575 0.028712" quat="0.682219 0.617669 0.0805047 0.382859">
|
| 242 |
<inertial pos="-0.0099171 0.0059845 0.00152324" quat="0.904243 -0.21652 0.0443878 0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07"/>
|
| 243 |
<joint name="left_hand_finger1_joint1" pos="0 -0 0" axis="-0 1 -0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
|
| 244 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 245 |
<geom name="left_hand_finger1_link1_collision" type="mesh" mesh="left_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 246 |
<body name="left_hand_finger1_link2" pos="-0.0047549 0.00601914 0.0141321" quat="0.616957 0.0855876 -0.29085 -0.726254">
|
| 247 |
<inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
|
| 248 |
<joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
|
| 249 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 250 |
<geom name="left_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 -0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 251 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_link2_softbody"/>
|
| 252 |
<geom name="left_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
|
| 253 |
<body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
|
| 254 |
<inertial pos="0.000775215 0.000210057 0.0127726" quat="0.999951 -0 0.00989566 -0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
|
| 255 |
<joint name="left_hand_finger1_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
|
| 256 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 257 |
<geom name="left_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 -0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 258 |
<body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
|
| 259 |
<inertial pos="3.12489e-05 0.0001544 0.0148945" quat="0.705239 0.0513648 -0.0513648 -0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
|
| 260 |
<joint name="left_hand_finger1_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
|
| 261 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 262 |
<geom name="left_hand_finger1_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger1_link4_simplified" contype="1" conaffinity="1"/>
|
| 263 |
-
<geom pos="0 0 0.0328135" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger1_tip_link"/>
|
| 264 |
<site name="left_hand_finger1_tip" pos="0.00026399 0.00020119 0.032808" group="4"/>
|
| 265 |
</body>
|
| 266 |
</body>
|
|
@@ -269,24 +333,24 @@
|
|
| 269 |
<body name="left_hand_finger2_link1" pos="-0.0058701 -0.029434 0.091917" quat="0.991689 0.0588295 -0.0292755 0.110614">
|
| 270 |
<inertial pos="-0.00132914 2.06891e-08 0.000319815" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 271 |
<joint name="left_hand_finger2_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
|
| 272 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 273 |
<geom name="left_hand_finger2_link1_collision" type="mesh" mesh="left_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 274 |
<body name="left_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 275 |
<inertial pos="1.85614e-06 -0.00370979 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 276 |
<joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
|
| 277 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 278 |
<geom name="left_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 279 |
<body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 280 |
<inertial pos="0.000342045 -1.41767e-05 0.0134814" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 281 |
<joint name="left_hand_finger2_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
|
| 282 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 283 |
<geom name="left_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 -0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 284 |
<body name="left_hand_finger2_link4" pos="0 0 0.0295">
|
| 285 |
<inertial pos="-0.000676323 0.000125288 0.0107855" quat="0.995657 0.0073755 -0.0927682 0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
|
| 286 |
<joint name="left_hand_finger2_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
|
| 287 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 288 |
<geom name="left_hand_finger2_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger2_link4_simplified" contype="1" conaffinity="1"/>
|
| 289 |
-
<geom pos="0 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger2_tip_link"/>
|
| 290 |
<site name="left_hand_finger2_tip" pos="-0.000749345 -0 0.024" group="4"/>
|
| 291 |
</body>
|
| 292 |
</body>
|
|
@@ -295,24 +359,24 @@
|
|
| 295 |
<body name="left_hand_finger3_link1" pos="-0.01046 -0.0074615 0.089544" quat="0.999048 1.26848e-05 -0.0436192 -0.000290547">
|
| 296 |
<inertial pos="-0.00132908 -3.41333e-09 0.000319983" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 297 |
<joint name="left_hand_finger3_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
|
| 298 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 299 |
<geom name="left_hand_finger3_link1_collision" type="mesh" mesh="left_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 300 |
<body name="left_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 301 |
<inertial pos="1.86459e-06 -0.0037098 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 302 |
<joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
|
| 303 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 304 |
<geom name="left_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 305 |
<body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 306 |
<inertial pos="0.00033388 -1.06802e-05 0.0134865" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 307 |
<joint name="left_hand_finger3_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
|
| 308 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 309 |
<geom name="left_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 -0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 310 |
<body name="left_hand_finger3_link4" pos="0 0 0.0295">
|
| 311 |
<inertial pos="-0.000676528 0.00012547 0.0107852" quat="0.995657 0.00737867 -0.0927683 0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
|
| 312 |
<joint name="left_hand_finger3_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
|
| 313 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 314 |
<geom name="left_hand_finger3_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger3_link4_simplified" contype="1" conaffinity="1"/>
|
| 315 |
-
<geom pos="0 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger3_tip_link"/>
|
| 316 |
<site name="left_hand_finger3_tip" pos="-0.00075 -0 0.024" group="4"/>
|
| 317 |
</body>
|
| 318 |
</body>
|
|
@@ -321,24 +385,24 @@
|
|
| 321 |
<body name="left_hand_finger4_link1" pos="-0.0076649 0.013712 0.084429" quat="0.997789 -0.0461019 -0.0405884 -0.0254002">
|
| 322 |
<inertial pos="-0.00132912 -1.24361e-09 0.000319884" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 323 |
<joint name="left_hand_finger4_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
|
| 324 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 325 |
<geom name="left_hand_finger4_link1_collision" type="mesh" mesh="left_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 326 |
<body name="left_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 327 |
<inertial pos="1.84945e-06 -0.00370375 0.0185161" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 328 |
<joint name="left_hand_finger4_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
|
| 329 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 330 |
<geom name="left_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 331 |
<body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 332 |
<inertial pos="0.000319082 -1.04411e-05 0.0135409" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 333 |
<joint name="left_hand_finger4_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
|
| 334 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 335 |
<geom name="left_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 -0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 336 |
<body name="left_hand_finger4_link4" pos="0 0 0.0295">
|
| 337 |
<inertial pos="-0.000714949 0.000139909 0.0108406" quat="0.995656 0.00751973 -0.0927913 0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
|
| 338 |
<joint name="left_hand_finger4_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
|
| 339 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 340 |
<geom name="left_hand_finger4_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger4_link4_simplified" contype="1" conaffinity="1"/>
|
| 341 |
-
<geom pos="0 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger4_tip_link"/>
|
| 342 |
<site name="left_hand_finger4_tip" pos="-0.000811164 -0 0.0239995" group="4"/>
|
| 343 |
</body>
|
| 344 |
</body>
|
|
@@ -347,24 +411,24 @@
|
|
| 347 |
<body name="left_hand_finger5_link1" pos="-0.00226865 0.0340011 0.0742813" quat="0.990869 -0.0993173 -0.0383255 -0.0827362">
|
| 348 |
<inertial pos="-0.00132913 -1.08611e-08 0.000319899" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 349 |
<joint name="left_hand_finger5_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
|
| 350 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 351 |
<geom name="left_hand_finger5_link1_collision" type="mesh" mesh="left_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 352 |
<body name="left_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 353 |
<inertial pos="1.84966e-06 -0.0037023 0.0193362" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 354 |
<joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
|
| 355 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 356 |
<geom name="left_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 357 |
<body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 358 |
<inertial pos="0.000328501 -5.05492e-06 0.0142853" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 359 |
<joint name="left_hand_finger5_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
|
| 360 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 361 |
<geom name="left_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 -0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 362 |
<body name="left_hand_finger5_link4" pos="0 0 0.0295">
|
| 363 |
<inertial pos="-0.000754828 0.000172322 0.0122784" quat="0.995656 0.00756106 -0.0927979 0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
|
| 364 |
<joint name="left_hand_finger5_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
|
| 365 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 366 |
<geom name="left_hand_finger5_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger5_link4_simplified" contype="1" conaffinity="1"/>
|
| 367 |
-
<geom pos="0 0 0.026" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="left_hand_finger5_tip_link"/>
|
| 368 |
<site name="left_hand_finger5_tip" pos="-0.000828016 -0 0.0259994" group="4"/>
|
| 369 |
</body>
|
| 370 |
</body>
|
|
@@ -452,31 +516,41 @@
|
|
| 452 |
= (0, -0.126, -0.0006). Replaces the old 'fine-tune against CAD' placeholder. -->
|
| 453 |
<body name="right_hand_palm_link" pos="0 -0.126 -0.0006" quat="0.70710678 0.70710678 0 0" childclass="wuji_hand">
|
| 454 |
<inertial pos="0.0015244526948108 0.0026423462207805 0.0376699164153404" mass="0.16914" quat="-0.01772809 -0.04274722 0.09308295 0.99458230" diaginertia="1.40677446e-04 9.58896475e-05 5.81329061e-05"/>
|
| 455 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 456 |
<geom name="right_hand_palm_collision" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_palm_link_collision" contype="1" conaffinity="1"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 457 |
<body name="right_hand_finger1_link1" pos="0.0085244 0.020575 0.028712" quat="0.682219 -0.617669 0.0805047 -0.382859">
|
| 458 |
<inertial pos="-0.0099171 -0.0059845 0.00152324" quat="0.904243 0.21652 0.0443878 -0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07"/>
|
| 459 |
<joint name="right_hand_finger1_joint1" pos="0 0 0" axis="0 1 0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
|
| 460 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 461 |
<geom name="right_hand_finger1_link1_collision" type="mesh" mesh="right_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 462 |
<body name="right_hand_finger1_link2" pos="-0.0047549 -0.0060191 0.014132" quat="0.726252 0.290851 -0.0855912 -0.616958">
|
| 463 |
<inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
|
| 464 |
<joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
|
| 465 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 466 |
<geom name="right_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 467 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_link2_softbody"/>
|
| 468 |
<geom name="right_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
|
| 469 |
<body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
|
| 470 |
<inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
|
| 471 |
<joint name="right_hand_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
|
| 472 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 473 |
<geom name="right_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 474 |
<body name="right_hand_finger1_link4" pos="0 0 0.0295">
|
| 475 |
<inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
|
| 476 |
<joint name="right_hand_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
|
| 477 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 478 |
<geom name="right_hand_finger1_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger1_link4_simplified" contype="1" conaffinity="1"/>
|
| 479 |
-
<geom pos="0.00026399 -0.00020119 0.032808" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger1_tip_link"/>
|
| 480 |
<site name="right_hand_finger1_tip" pos="0.00026399 -0.00020119 0.032808" group="4"/>
|
| 481 |
</body>
|
| 482 |
</body>
|
|
@@ -485,24 +559,24 @@
|
|
| 485 |
<body name="right_hand_finger2_link1" pos="-0.0058701 0.029434 0.091917" quat="0.991689 -0.0588295 -0.0292755 -0.110614">
|
| 486 |
<inertial pos="-0.00132914 -2.06891e-08 0.000319815" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 487 |
<joint name="right_hand_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
|
| 488 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 489 |
<geom name="right_hand_finger2_link1_collision" type="mesh" mesh="right_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 490 |
<body name="right_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 491 |
<inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 492 |
<joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
|
| 493 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 494 |
<geom name="right_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 495 |
<body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
|
| 496 |
<inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 497 |
<joint name="right_hand_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
|
| 498 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 499 |
<geom name="right_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 500 |
<body name="right_hand_finger2_link4" pos="0 0 0.0295">
|
| 501 |
<inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
|
| 502 |
<joint name="right_hand_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
|
| 503 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 504 |
<geom name="right_hand_finger2_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger2_link4_simplified" contype="1" conaffinity="1"/>
|
| 505 |
-
<geom pos="-0.000749345 0 0.024" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger2_tip_link"/>
|
| 506 |
<site name="right_hand_finger2_tip" pos="-0.000749345 0 0.024" group="4"/>
|
| 507 |
</body>
|
| 508 |
</body>
|
|
@@ -511,24 +585,24 @@
|
|
| 511 |
<body name="right_hand_finger3_link1" pos="-0.01046 0.0074615 0.089544" quat="0.999048 -1.26848e-05 -0.0436192 0.000290547">
|
| 512 |
<inertial pos="-0.00132908 3.41333e-09 0.000319983" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 513 |
<joint name="right_hand_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
|
| 514 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 515 |
<geom name="right_hand_finger3_link1_collision" type="mesh" mesh="right_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 516 |
<body name="right_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 517 |
<inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 518 |
<joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
|
| 519 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 520 |
<geom name="right_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 521 |
<body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
|
| 522 |
<inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 523 |
<joint name="right_hand_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
|
| 524 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 525 |
<geom name="right_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 526 |
<body name="right_hand_finger3_link4" pos="0 0 0.0295">
|
| 527 |
<inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
|
| 528 |
<joint name="right_hand_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
|
| 529 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 530 |
<geom name="right_hand_finger3_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger3_link4_simplified" contype="1" conaffinity="1"/>
|
| 531 |
-
<geom pos="-0.00075 0 0.024" quat="1 0 0 -0.000156524" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger3_tip_link"/>
|
| 532 |
<site name="right_hand_finger3_tip" pos="-0.00075 0 0.024" group="4"/>
|
| 533 |
</body>
|
| 534 |
</body>
|
|
@@ -537,24 +611,24 @@
|
|
| 537 |
<body name="right_hand_finger4_link1" pos="-0.0076649 -0.013712 0.084429" quat="0.997789 0.0461019 -0.0405884 0.0254002">
|
| 538 |
<inertial pos="-0.00132912 1.24361e-09 0.000319884" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 539 |
<joint name="right_hand_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
|
| 540 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 541 |
<geom name="right_hand_finger4_link1_collision" type="mesh" mesh="right_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 542 |
<body name="right_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.000213851 -0.000213851 0.707107">
|
| 543 |
<inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 544 |
<joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
|
| 545 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 546 |
<geom name="right_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 547 |
<body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
|
| 548 |
<inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 549 |
<joint name="right_hand_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
|
| 550 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 551 |
<geom name="right_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 552 |
<body name="right_hand_finger4_link4" pos="0 0 0.0295">
|
| 553 |
<inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
|
| 554 |
<joint name="right_hand_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
|
| 555 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 556 |
<geom name="right_hand_finger4_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger4_link4_simplified" contype="1" conaffinity="1"/>
|
| 557 |
-
<geom pos="-0.000811164 0 0.0239995" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger4_tip_link"/>
|
| 558 |
<site name="right_hand_finger4_tip" pos="-0.000811164 0 0.0239995" group="4"/>
|
| 559 |
</body>
|
| 560 |
</body>
|
|
@@ -563,24 +637,24 @@
|
|
| 563 |
<body name="right_hand_finger5_link1" pos="-0.00226865 -0.0340011 0.0742813" quat="0.990869 0.0993173 -0.0383255 0.0827362">
|
| 564 |
<inertial pos="-0.00132913 1.08611e-08 0.000319899" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 565 |
<joint name="right_hand_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
|
| 566 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 567 |
<geom name="right_hand_finger5_link1_collision" type="mesh" mesh="right_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 568 |
<body name="right_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.00026748 -0.00026748 0.707107">
|
| 569 |
<inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 570 |
<joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
|
| 571 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 572 |
<geom name="right_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 573 |
<body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
|
| 574 |
<inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 575 |
<joint name="right_hand_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
|
| 576 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
| 577 |
<geom name="right_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 578 |
<body name="right_hand_finger5_link4" pos="0 0 0.0295">
|
| 579 |
<inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
|
| 580 |
<joint name="right_hand_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
|
| 581 |
-
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.
|
|
|
|
| 582 |
<geom name="right_hand_finger5_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger5_link4_simplified" contype="1" conaffinity="1"/>
|
| 583 |
-
<geom pos="-0.000828016 0 0.0259994" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.02 0.02 0.024 1.0" mesh="right_hand_finger5_tip_link"/>
|
| 584 |
<site name="right_hand_finger5_tip" pos="-0.000828016 0 0.0259994" group="4"/>
|
| 585 |
</body>
|
| 586 |
</body>
|
|
|
|
| 142 |
<mesh name="right_hand_finger5_link4_simplified" content_type="model/stl" file="../wuji-description/hand/body-with-soft/meshes/right/right_finger5_link4_simplified.STL"/>
|
| 143 |
<mesh name="right_hand_finger5_tip_link" content_type="model/stl" file="../wuji-description/hand/body-with-soft/meshes/right/right_finger5_tip_link.STL"/>
|
| 144 |
<mesh name="right_hand_direct_adapter_mount" content_type="model/stl" file="../wuji-description/hand/attachment/direct-adapter/meshes/right_direct_adapter_mount.STL"/>
|
| 145 |
+
<mesh name="fv_left_hand_palm_link__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_palm_link__BlackGlove.stl" />
|
| 146 |
+
<mesh name="fv_left_hand_palm_link__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_palm_link__SilverNail.stl" />
|
| 147 |
+
<mesh name="fv_left_hand_finger1_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link1__SilverNail.stl" />
|
| 148 |
+
<mesh name="fv_left_hand_finger1_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link2__BlackGlove.stl" />
|
| 149 |
+
<mesh name="fv_left_hand_finger1_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link3__BlackGlove.stl" />
|
| 150 |
+
<mesh name="fv_left_hand_finger1_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__BlackGlove.stl" />
|
| 151 |
+
<mesh name="fv_left_hand_finger1_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger1_link4__SilverNail.stl" />
|
| 152 |
+
<mesh name="fv_left_hand_finger2_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link1__SilverNail.stl" />
|
| 153 |
+
<mesh name="fv_left_hand_finger2_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link2__BlackGlove.stl" />
|
| 154 |
+
<mesh name="fv_left_hand_finger2_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link3__BlackGlove.stl" />
|
| 155 |
+
<mesh name="fv_left_hand_finger2_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__BlackGlove.stl" />
|
| 156 |
+
<mesh name="fv_left_hand_finger2_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger2_link4__SilverNail.stl" />
|
| 157 |
+
<mesh name="fv_left_hand_finger3_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link1__SilverNail.stl" />
|
| 158 |
+
<mesh name="fv_left_hand_finger3_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link2__BlackGlove.stl" />
|
| 159 |
+
<mesh name="fv_left_hand_finger3_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link3__BlackGlove.stl" />
|
| 160 |
+
<mesh name="fv_left_hand_finger3_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__BlackGlove.stl" />
|
| 161 |
+
<mesh name="fv_left_hand_finger3_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger3_link4__SilverNail.stl" />
|
| 162 |
+
<mesh name="fv_left_hand_finger4_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link1__SilverNail.stl" />
|
| 163 |
+
<mesh name="fv_left_hand_finger4_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link2__BlackGlove.stl" />
|
| 164 |
+
<mesh name="fv_left_hand_finger4_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link3__BlackGlove.stl" />
|
| 165 |
+
<mesh name="fv_left_hand_finger4_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__BlackGlove.stl" />
|
| 166 |
+
<mesh name="fv_left_hand_finger4_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger4_link4__SilverNail.stl" />
|
| 167 |
+
<mesh name="fv_left_hand_finger5_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link1__SilverNail.stl" />
|
| 168 |
+
<mesh name="fv_left_hand_finger5_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link2__BlackGlove.stl" />
|
| 169 |
+
<mesh name="fv_left_hand_finger5_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link3__BlackGlove.stl" />
|
| 170 |
+
<mesh name="fv_left_hand_finger5_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__BlackGlove.stl" />
|
| 171 |
+
<mesh name="fv_left_hand_finger5_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_left_hand_finger5_link4__SilverNail.stl" />
|
| 172 |
+
<mesh name="fv_right_hand_palm_link__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_palm_link__BlackGlove.stl" />
|
| 173 |
+
<mesh name="fv_right_hand_palm_link__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_palm_link__SilverNail.stl" />
|
| 174 |
+
<mesh name="fv_right_hand_finger1_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link1__SilverNail.stl" />
|
| 175 |
+
<mesh name="fv_right_hand_finger1_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link2__BlackGlove.stl" />
|
| 176 |
+
<mesh name="fv_right_hand_finger1_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link3__BlackGlove.stl" />
|
| 177 |
+
<mesh name="fv_right_hand_finger1_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__BlackGlove.stl" />
|
| 178 |
+
<mesh name="fv_right_hand_finger1_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger1_link4__SilverNail.stl" />
|
| 179 |
+
<mesh name="fv_right_hand_finger2_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link1__SilverNail.stl" />
|
| 180 |
+
<mesh name="fv_right_hand_finger2_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link2__BlackGlove.stl" />
|
| 181 |
+
<mesh name="fv_right_hand_finger2_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link3__BlackGlove.stl" />
|
| 182 |
+
<mesh name="fv_right_hand_finger2_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__BlackGlove.stl" />
|
| 183 |
+
<mesh name="fv_right_hand_finger2_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger2_link4__SilverNail.stl" />
|
| 184 |
+
<mesh name="fv_right_hand_finger3_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link1__SilverNail.stl" />
|
| 185 |
+
<mesh name="fv_right_hand_finger3_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link2__BlackGlove.stl" />
|
| 186 |
+
<mesh name="fv_right_hand_finger3_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link3__BlackGlove.stl" />
|
| 187 |
+
<mesh name="fv_right_hand_finger3_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__BlackGlove.stl" />
|
| 188 |
+
<mesh name="fv_right_hand_finger3_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger3_link4__SilverNail.stl" />
|
| 189 |
+
<mesh name="fv_right_hand_finger4_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link1__SilverNail.stl" />
|
| 190 |
+
<mesh name="fv_right_hand_finger4_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link2__BlackGlove.stl" />
|
| 191 |
+
<mesh name="fv_right_hand_finger4_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link3__BlackGlove.stl" />
|
| 192 |
+
<mesh name="fv_right_hand_finger4_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__BlackGlove.stl" />
|
| 193 |
+
<mesh name="fv_right_hand_finger4_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger4_link4__SilverNail.stl" />
|
| 194 |
+
<mesh name="fv_right_hand_finger5_link1__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link1__SilverNail.stl" />
|
| 195 |
+
<mesh name="fv_right_hand_finger5_link2__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link2__BlackGlove.stl" />
|
| 196 |
+
<mesh name="fv_right_hand_finger5_link3__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link3__BlackGlove.stl" />
|
| 197 |
+
<mesh name="fv_right_hand_finger5_link4__BlackGlove" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__BlackGlove.stl" />
|
| 198 |
+
<mesh name="fv_right_hand_finger5_link4__SilverNail" file="wuji_hand/fused/mjcf_visuals/fv_right_hand_finger5_link4__SilverNail.stl" />
|
| 199 |
</asset>
|
| 200 |
|
| 201 |
<worldbody>
|
|
|
|
| 290 |
= (0, -0.126, -0.0006). Replaces the old 'fine-tune against CAD' placeholder. -->
|
| 291 |
<body name="left_hand_palm_link" pos="0 -0.126 -0.0006" quat="0 0 -0.70710678 0.70710678" childclass="wuji_hand">
|
| 292 |
<inertial pos="0.00152445269 -0.00264234622 0.0376699164" mass="0.16914" quat="-0.01772809 0.04274722 0.09308295 -0.9945823" diaginertia="1.40677446e-04 9.58896475e-05 5.81329061e-05"/>
|
| 293 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_palm_link__BlackGlove"/>
|
| 294 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_palm_link__SilverNail"/>
|
| 295 |
<geom name="left_hand_palm_collision" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_palm_link_collision" contype="1" conaffinity="1"/>
|
| 296 |
+
<geom name="left_hand_rootplug_finger1" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 -0.037 0.034" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 297 |
+
<geom name="left_hand_rootplug_finger1_collision" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 -0.037 0.034" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 298 |
+
<geom name="left_hand_rootplug_finger2" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016545435 -0.029433863 0.078566882" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 299 |
+
<geom name="left_hand_rootplug_finger2_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016545435 -0.029433863 0.078566882" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 300 |
+
<geom name="left_hand_rootplug_finger3" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 -0.0074614603 0.076417752" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 301 |
+
<geom name="left_hand_rootplug_finger3_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 -0.0074614603 0.076417752" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 302 |
+
<geom name="left_hand_rootplug_finger4" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017581274 0.013712239 0.07097451" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 303 |
+
<geom name="left_hand_rootplug_finger4_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017581274 0.013712239 0.07097451" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 304 |
+
<geom name="left_hand_rootplug_finger5" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010894634 0.034001112 0.060402748" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 305 |
+
<geom name="left_hand_rootplug_finger5_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010894634 0.034001112 0.060402748" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 306 |
<body name="left_hand_finger1_link1" pos="0.0085244 -0.020575 0.028712" quat="0.682219 0.617669 0.0805047 0.382859">
|
| 307 |
<inertial pos="-0.0099171 0.0059845 0.00152324" quat="0.904243 -0.21652 0.0443878 0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07"/>
|
| 308 |
<joint name="left_hand_finger1_joint1" pos="0 -0 0" axis="-0 1 -0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
|
| 309 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger1_link1__SilverNail"/>
|
| 310 |
<geom name="left_hand_finger1_link1_collision" type="mesh" mesh="left_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 311 |
<body name="left_hand_finger1_link2" pos="-0.0047549 0.00601914 0.0141321" quat="0.616957 0.0855876 -0.29085 -0.726254">
|
| 312 |
<inertial pos="-0.00136057 8.49029e-05 0.0150056" quat="0.922053 -0.00470413 0.0434721 -0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
|
| 313 |
<joint name="left_hand_finger1_joint2" pos="0 -0 0" axis="0 -1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
|
| 314 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link2__BlackGlove"/>
|
| 315 |
<geom name="left_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 -0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
|
|
|
| 316 |
<geom name="left_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="left_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
|
| 317 |
<body name="left_hand_finger1_link3" pos="0.000188722 0.000991601 0.0346636" quat="0.577836 -0.0212382 -0.0150036 0.815739">
|
| 318 |
<inertial pos="0.000775215 0.000210057 0.0127726" quat="0.999951 -0 0.00989566 -0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
|
| 319 |
<joint name="left_hand_finger1_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
|
| 320 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link3__BlackGlove"/>
|
| 321 |
<geom name="left_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 -0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 322 |
<body name="left_hand_finger1_link4" pos="0 -0.0002 0.0295">
|
| 323 |
<inertial pos="3.12489e-05 0.0001544 0.0148945" quat="0.705239 0.0513648 -0.0513648 -0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
|
| 324 |
<joint name="left_hand_finger1_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
|
| 325 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger1_link4__BlackGlove"/>
|
| 326 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger1_link4__SilverNail"/>
|
| 327 |
<geom name="left_hand_finger1_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger1_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 328 |
<site name="left_hand_finger1_tip" pos="0.00026399 0.00020119 0.032808" group="4"/>
|
| 329 |
</body>
|
| 330 |
</body>
|
|
|
|
| 333 |
<body name="left_hand_finger2_link1" pos="-0.0058701 -0.029434 0.091917" quat="0.991689 0.0588295 -0.0292755 0.110614">
|
| 334 |
<inertial pos="-0.00132914 2.06891e-08 0.000319815" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 335 |
<joint name="left_hand_finger2_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
|
| 336 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger2_link1__SilverNail"/>
|
| 337 |
<geom name="left_hand_finger2_link1_collision" type="mesh" mesh="left_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 338 |
<body name="left_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 339 |
<inertial pos="1.85614e-06 -0.00370979 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 340 |
<joint name="left_hand_finger2_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
|
| 341 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link2__BlackGlove"/>
|
| 342 |
<geom name="left_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 343 |
<body name="left_hand_finger2_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 344 |
<inertial pos="0.000342045 -1.41767e-05 0.0134814" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 345 |
<joint name="left_hand_finger2_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
|
| 346 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link3__BlackGlove"/>
|
| 347 |
<geom name="left_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 -0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 348 |
<body name="left_hand_finger2_link4" pos="0 0 0.0295">
|
| 349 |
<inertial pos="-0.000676323 0.000125288 0.0107855" quat="0.995657 0.0073755 -0.0927682 0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
|
| 350 |
<joint name="left_hand_finger2_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
|
| 351 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger2_link4__BlackGlove"/>
|
| 352 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger2_link4__SilverNail"/>
|
| 353 |
<geom name="left_hand_finger2_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger2_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 354 |
<site name="left_hand_finger2_tip" pos="-0.000749345 -0 0.024" group="4"/>
|
| 355 |
</body>
|
| 356 |
</body>
|
|
|
|
| 359 |
<body name="left_hand_finger3_link1" pos="-0.01046 -0.0074615 0.089544" quat="0.999048 1.26848e-05 -0.0436192 -0.000290547">
|
| 360 |
<inertial pos="-0.00132908 -3.41333e-09 0.000319983" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 361 |
<joint name="left_hand_finger3_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
|
| 362 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger3_link1__SilverNail"/>
|
| 363 |
<geom name="left_hand_finger3_link1_collision" type="mesh" mesh="left_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 364 |
<body name="left_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 365 |
<inertial pos="1.86459e-06 -0.0037098 0.0184837" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 366 |
<joint name="left_hand_finger3_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
|
| 367 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link2__BlackGlove"/>
|
| 368 |
<geom name="left_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 369 |
<body name="left_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 370 |
<inertial pos="0.00033388 -1.06802e-05 0.0134865" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 371 |
<joint name="left_hand_finger3_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
|
| 372 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link3__BlackGlove"/>
|
| 373 |
<geom name="left_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 -0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 374 |
<body name="left_hand_finger3_link4" pos="0 0 0.0295">
|
| 375 |
<inertial pos="-0.000676528 0.00012547 0.0107852" quat="0.995657 0.00737867 -0.0927683 0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
|
| 376 |
<joint name="left_hand_finger3_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
|
| 377 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger3_link4__BlackGlove"/>
|
| 378 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger3_link4__SilverNail"/>
|
| 379 |
<geom name="left_hand_finger3_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger3_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 380 |
<site name="left_hand_finger3_tip" pos="-0.00075 -0 0.024" group="4"/>
|
| 381 |
</body>
|
| 382 |
</body>
|
|
|
|
| 385 |
<body name="left_hand_finger4_link1" pos="-0.0076649 0.013712 0.084429" quat="0.997789 -0.0461019 -0.0405884 -0.0254002">
|
| 386 |
<inertial pos="-0.00132912 -1.24361e-09 0.000319884" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 387 |
<joint name="left_hand_finger4_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
|
| 388 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger4_link1__SilverNail"/>
|
| 389 |
<geom name="left_hand_finger4_link1_collision" type="mesh" mesh="left_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 390 |
<body name="left_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 391 |
<inertial pos="1.84945e-06 -0.00370375 0.0185161" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 392 |
<joint name="left_hand_finger4_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
|
| 393 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link2__BlackGlove"/>
|
| 394 |
<geom name="left_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 395 |
<body name="left_hand_finger4_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 396 |
<inertial pos="0.000319082 -1.04411e-05 0.0135409" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 397 |
<joint name="left_hand_finger4_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
|
| 398 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link3__BlackGlove"/>
|
| 399 |
<geom name="left_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 -0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 400 |
<body name="left_hand_finger4_link4" pos="0 0 0.0295">
|
| 401 |
<inertial pos="-0.000714949 0.000139909 0.0108406" quat="0.995656 0.00751973 -0.0927913 0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
|
| 402 |
<joint name="left_hand_finger4_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
|
| 403 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger4_link4__BlackGlove"/>
|
| 404 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger4_link4__SilverNail"/>
|
| 405 |
<geom name="left_hand_finger4_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger4_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 406 |
<site name="left_hand_finger4_tip" pos="-0.000811164 -0 0.0239995" group="4"/>
|
| 407 |
</body>
|
| 408 |
</body>
|
|
|
|
| 411 |
<body name="left_hand_finger5_link1" pos="-0.00226865 0.0340011 0.0742813" quat="0.990869 -0.0993173 -0.0383255 -0.0827362">
|
| 412 |
<inertial pos="-0.00132913 -1.08611e-08 0.000319899" quat="0.92388 -0 0.382683 -0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 413 |
<joint name="left_hand_finger5_joint1" pos="0 -0 0" axis="-0 1 -0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
|
| 414 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger5_link1__SilverNail"/>
|
| 415 |
<geom name="left_hand_finger5_link1_collision" type="mesh" mesh="left_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 416 |
<body name="left_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 417 |
<inertial pos="1.84966e-06 -0.0037023 0.0193362" quat="0.70703 -0.0104245 0.0104245 -0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 418 |
<joint name="left_hand_finger5_joint2" pos="0 -0 0" axis="-0 1 -0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
|
| 419 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link2__BlackGlove"/>
|
| 420 |
<geom name="left_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 421 |
<body name="left_hand_finger5_link3" pos="0 0.00475 0.0436177" quat="0.707202 0 0 -0.707012">
|
| 422 |
<inertial pos="0.000328501 -5.05492e-06 0.0142853" quat="0.999892 -0 -0.0146884 -0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 423 |
<joint name="left_hand_finger5_joint3" pos="0 -0 0" axis="-0 1 -0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
|
| 424 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link3__BlackGlove"/>
|
| 425 |
<geom name="left_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 -0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 426 |
<body name="left_hand_finger5_link4" pos="0 0 0.0295">
|
| 427 |
<inertial pos="-0.000754828 0.000172322 0.0122784" quat="0.995656 0.00756106 -0.0927979 0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
|
| 428 |
<joint name="left_hand_finger5_joint4" pos="0 -0 0" axis="-0 1 -0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
|
| 429 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_left_hand_finger5_link4__BlackGlove"/>
|
| 430 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_left_hand_finger5_link4__SilverNail"/>
|
| 431 |
<geom name="left_hand_finger5_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="left_hand_finger5_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 432 |
<site name="left_hand_finger5_tip" pos="-0.000828016 -0 0.0259994" group="4"/>
|
| 433 |
</body>
|
| 434 |
</body>
|
|
|
|
| 516 |
= (0, -0.126, -0.0006). Replaces the old 'fine-tune against CAD' placeholder. -->
|
| 517 |
<body name="right_hand_palm_link" pos="0 -0.126 -0.0006" quat="0.70710678 0.70710678 0 0" childclass="wuji_hand">
|
| 518 |
<inertial pos="0.0015244526948108 0.0026423462207805 0.0376699164153404" mass="0.16914" quat="-0.01772809 -0.04274722 0.09308295 0.99458230" diaginertia="1.40677446e-04 9.58896475e-05 5.81329061e-05"/>
|
| 519 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_palm_link__BlackGlove"/>
|
| 520 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_palm_link__SilverNail"/>
|
| 521 |
<geom name="right_hand_palm_collision" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_palm_link_collision" contype="1" conaffinity="1"/>
|
| 522 |
+
<geom name="right_hand_rootplug_finger1" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 0.037 0.034" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 523 |
+
<geom name="right_hand_rootplug_finger1_collision" type="box" size="0.003 0.0040000002 0.0040000002" pos="0.0045 0.037 0.034" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 524 |
+
<geom name="right_hand_rootplug_finger2" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016456473 0.029433999 0.078579524" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 525 |
+
<geom name="right_hand_rootplug_finger2_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.016456473 0.029433999 0.078579524" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 526 |
+
<geom name="right_hand_rootplug_finger3" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 0.0074614999 0.076418204" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 527 |
+
<geom name="right_hand_rootplug_finger3_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017551884 0.0074614999 0.076418204" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 528 |
+
<geom name="right_hand_rootplug_finger4" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017675639 -0.013712 0.070989334" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 529 |
+
<geom name="right_hand_rootplug_finger4_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.017675639 -0.013712 0.070989334" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 530 |
+
<geom name="right_hand_rootplug_finger5" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010813845 -0.034001108 0.060419022" quat="1 0 0 0" contype="0" conaffinity="0" group="1" density="0" rgba="0.75 0.77 0.8 1"/>
|
| 531 |
+
<geom name="right_hand_rootplug_finger5_collision" type="box" size="0.0024999999 0.0049999999 0.0044999998" pos="-0.010813845 -0.034001108 0.060419022" quat="1 0 0 0" contype="1" conaffinity="1"/>
|
| 532 |
<body name="right_hand_finger1_link1" pos="0.0085244 0.020575 0.028712" quat="0.682219 -0.617669 0.0805047 -0.382859">
|
| 533 |
<inertial pos="-0.0099171 -0.0059845 0.00152324" quat="0.904243 0.21652 0.0443878 -0.365368" mass="0.0075" diaginertia="3.37599e-07 3.01198e-07 2.11203e-07"/>
|
| 534 |
<joint name="right_hand_finger1_joint1" pos="0 0 0" axis="0 1 0" range="0.0475 1.6033" actuatorfrcrange="-0.4452 0.4452" armature="0.0005"/>
|
| 535 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger1_link1__SilverNail"/>
|
| 536 |
<geom name="right_hand_finger1_link1_collision" type="mesh" mesh="right_hand_finger1_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 537 |
<body name="right_hand_finger1_link2" pos="-0.0047549 -0.0060191 0.014132" quat="0.726252 0.290851 -0.0855912 -0.616958">
|
| 538 |
<inertial pos="-0.00136057 -8.49029e-05 0.0150056" quat="0.922053 0.00470413 0.0434721 0.384585" mass="0.0333532" diaginertia="4.2114e-06 4.06368e-06 2.19943e-06"/>
|
| 539 |
<joint name="right_hand_finger1_joint2" pos="0 0 0" axis="0 1 0" range="-0.1387 0.9324" actuatorfrcrange="-0.4259 0.4259" armature="0.0005"/>
|
| 540 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link2__BlackGlove"/>
|
| 541 |
<geom name="right_hand_finger1_link2_col" type="capsule" size="0.00661572 0.0135192" pos="0 0 0.0170004" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
|
|
|
| 542 |
<geom name="right_hand_finger1_link2_softbody_col" type="mesh" rgba="0.9 0.8 0.6 1" mesh="right_hand_finger1_link2_softbody_simplified" contype="2" conaffinity="2"/>
|
| 543 |
<body name="right_hand_finger1_link3" pos="-0.00037714 0.001058 0.034673" quat="0.815725 0.015003 0.0212383 0.577855">
|
| 544 |
<inertial pos="0.000775215 -0.000210057 0.0127726" quat="0.999951 0 0.00989566 0" mass="0.0165" diaginertia="1.4604e-06 1.42e-06 4.49604e-07"/>
|
| 545 |
<joint name="right_hand_finger1_joint3" pos="0 0 0" axis="0 1 0" range="-0.4642 1.5623" actuatorfrcrange="-0.1888 0.1888"/>
|
| 546 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link3__BlackGlove"/>
|
| 547 |
<geom name="right_hand_finger1_link3_col" type="capsule" size="0.0110676 0.0081727" pos="0 0 0.0140091" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 548 |
<body name="right_hand_finger1_link4" pos="0 0 0.0295">
|
| 549 |
<inertial pos="3.12489e-05 -0.0001544 0.0148945" quat="0.705239 -0.0513648 -0.0513648 0.705239" mass="0.0206" diaginertia="1.78779e-06 1.75044e-06 7.77343e-07"/>
|
| 550 |
<joint name="right_hand_finger1_joint4" pos="0 0 0" axis="0 1 0" range="-0.4699 1.5568" actuatorfrcrange="-0.1468 0.1468"/>
|
| 551 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger1_link4__BlackGlove"/>
|
| 552 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger1_link4__SilverNail"/>
|
| 553 |
<geom name="right_hand_finger1_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger1_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 554 |
<site name="right_hand_finger1_tip" pos="0.00026399 -0.00020119 0.032808" group="4"/>
|
| 555 |
</body>
|
| 556 |
</body>
|
|
|
|
| 559 |
<body name="right_hand_finger2_link1" pos="-0.0058701 0.029434 0.091917" quat="0.991689 -0.0588295 -0.0292755 -0.110614">
|
| 560 |
<inertial pos="-0.00132914 -2.06891e-08 0.000319815" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 561 |
<joint name="right_hand_finger2_joint1" pos="0 0 0" axis="0 1 0" range="-0.1585 1.5604" actuatorfrcrange="-0.6188 0.6188" armature="0.0005"/>
|
| 562 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger2_link1__SilverNail"/>
|
| 563 |
<geom name="right_hand_finger2_link1_collision" type="mesh" mesh="right_hand_finger2_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 564 |
<body name="right_hand_finger2_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 565 |
<inertial pos="1.85614e-06 0.00370979 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 566 |
<joint name="right_hand_finger2_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1822 0.1822"/>
|
| 567 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link2__BlackGlove"/>
|
| 568 |
<geom name="right_hand_finger2_link2_col" type="capsule" size="0.010221 0.0169968" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 569 |
<body name="right_hand_finger2_link3" pos="0 0.00475028 0.0436177" quat="0.707012 0 0 -0.707202">
|
| 570 |
<inertial pos="0.000342045 1.41767e-05 0.0134814" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 571 |
<joint name="right_hand_finger2_joint3" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5485" actuatorfrcrange="-0.2251 0.2251"/>
|
| 572 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link3__BlackGlove"/>
|
| 573 |
<geom name="right_hand_finger2_link3_col" type="capsule" size="0.010221 0.0108889" pos="0 0 0.0136213" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 574 |
<body name="right_hand_finger2_link4" pos="0 0 0.0295">
|
| 575 |
<inertial pos="-0.000676323 -0.000125288 0.0107855" quat="0.995657 -0.0073755 -0.0927682 -0.00265853" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06444e-07"/>
|
| 576 |
<joint name="right_hand_finger2_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5753" actuatorfrcrange="-0.217 0.217"/>
|
| 577 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger2_link4__BlackGlove"/>
|
| 578 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger2_link4__SilverNail"/>
|
| 579 |
<geom name="right_hand_finger2_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger2_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 580 |
<site name="right_hand_finger2_tip" pos="-0.000749345 0 0.024" group="4"/>
|
| 581 |
</body>
|
| 582 |
</body>
|
|
|
|
| 585 |
<body name="right_hand_finger3_link1" pos="-0.01046 0.0074615 0.089544" quat="0.999048 -1.26848e-05 -0.0436192 0.000290547">
|
| 586 |
<inertial pos="-0.00132908 3.41333e-09 0.000319983" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 587 |
<joint name="right_hand_finger3_joint1" pos="0 0 0" axis="0 1 0" range="-0.1644 1.5516" actuatorfrcrange="-0.6494 0.6494" armature="0.0005"/>
|
| 588 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger3_link1__SilverNail"/>
|
| 589 |
<geom name="right_hand_finger3_link1_collision" type="mesh" mesh="right_hand_finger3_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 590 |
<body name="right_hand_finger3_link2" pos="0.0022 0 0.00400001" quat="0.707107 0 0 0.707107">
|
| 591 |
<inertial pos="1.86459e-06 0.0037098 0.0184837" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 592 |
<joint name="right_hand_finger3_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1827 0.1827"/>
|
| 593 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link2__BlackGlove"/>
|
| 594 |
<geom name="right_hand_finger3_link2_col" type="capsule" size="0.010184 0.0170338" pos="0 0.003 0.021631" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 595 |
<body name="right_hand_finger3_link3" pos="0 0.00475 0.0436177" quat="0.707012 0 0 -0.707202">
|
| 596 |
<inertial pos="0.00033388 1.06802e-05 0.0134865" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 597 |
<joint name="right_hand_finger3_joint3" pos="0 0 0" axis="0 1 0" range="-0.4739 1.5512" actuatorfrcrange="-0.2078 0.2078"/>
|
| 598 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link3__BlackGlove"/>
|
| 599 |
<geom name="right_hand_finger3_link3_col" type="capsule" size="0.010184 0.0109259" pos="0 0 0.0136212" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 600 |
<body name="right_hand_finger3_link4" pos="0 0 0.0295">
|
| 601 |
<inertial pos="-0.000676528 -0.00012547 0.0107852" quat="0.995657 -0.00737867 -0.0927683 -0.00263311" mass="0.01718" diaginertia="1.17777e-06 1.07161e-06 4.06449e-07"/>
|
| 602 |
<joint name="right_hand_finger3_joint4" pos="0 0 0" axis="0 1 0" range="-0.4684 1.5745" actuatorfrcrange="-0.2018 0.2018"/>
|
| 603 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger3_link4__BlackGlove"/>
|
| 604 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger3_link4__SilverNail"/>
|
| 605 |
<geom name="right_hand_finger3_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger3_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 606 |
<site name="right_hand_finger3_tip" pos="-0.00075 0 0.024" group="4"/>
|
| 607 |
</body>
|
| 608 |
</body>
|
|
|
|
| 611 |
<body name="right_hand_finger4_link1" pos="-0.0076649 -0.013712 0.084429" quat="0.997789 0.0461019 -0.0405884 0.0254002">
|
| 612 |
<inertial pos="-0.00132912 1.24361e-09 0.000319884" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 613 |
<joint name="right_hand_finger4_joint1" pos="0 0 0" axis="0 1 0" range="-0.1554 1.5585" actuatorfrcrange="-0.6389 0.6389" armature="0.0005"/>
|
| 614 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger4_link1__SilverNail"/>
|
| 615 |
<geom name="right_hand_finger4_link1_collision" type="mesh" mesh="right_hand_finger4_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 616 |
<body name="right_hand_finger4_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.000213851 -0.000213851 0.707107">
|
| 617 |
<inertial pos="1.84945e-06 0.00370375 0.0185161" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 618 |
<joint name="right_hand_finger4_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1832 0.1832"/>
|
| 619 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link2__BlackGlove"/>
|
| 620 |
<geom name="right_hand_finger4_link2_col" type="capsule" size="0.0101786 0.0170048" pos="0 0.003 0.021669" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 621 |
<body name="right_hand_finger4_link3" pos="0 0.00472362 0.0436206" quat="0.707012 0.00021388 0.000213823 -0.707202">
|
| 622 |
<inertial pos="0.000319082 1.04411e-05 0.0135409" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 623 |
<joint name="right_hand_finger4_joint3" pos="0 0 0" axis="0 1 0" range="-0.4765 1.5487" actuatorfrcrange="-0.2249 0.2249"/>
|
| 624 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link3__BlackGlove"/>
|
| 625 |
<geom name="right_hand_finger4_link3_col" type="capsule" size="0.0101786 0.0108995" pos="0 0 0.0136532" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 626 |
<body name="right_hand_finger4_link4" pos="0 0 0.0295">
|
| 627 |
<inertial pos="-0.000714949 -0.000139909 0.0108406" quat="0.995656 -0.00751973 -0.0927913 -0.00151388" mass="0.01718" diaginertia="1.17803e-06 1.07186e-06 4.06933e-07"/>
|
| 628 |
<joint name="right_hand_finger4_joint4" pos="0 0 0" axis="0 1 0" range="-0.4777 1.5634" actuatorfrcrange="-0.2044 0.2044"/>
|
| 629 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger4_link4__BlackGlove"/>
|
| 630 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger4_link4__SilverNail"/>
|
| 631 |
<geom name="right_hand_finger4_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger4_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 632 |
<site name="right_hand_finger4_tip" pos="-0.000811164 0 0.0239995" group="4"/>
|
| 633 |
</body>
|
| 634 |
</body>
|
|
|
|
| 637 |
<body name="right_hand_finger5_link1" pos="-0.00226865 -0.0340011 0.0742813" quat="0.990869 0.0993173 -0.0383255 0.0827362">
|
| 638 |
<inertial pos="-0.00132913 1.08611e-08 0.000319899" quat="0.92388 0 0.382683 0" mass="0.0032" diaginertia="1.1e-07 7e-08 5e-08"/>
|
| 639 |
<joint name="right_hand_finger5_joint1" pos="0 0 0" axis="0 1 0" range="-0.1626 1.5585" actuatorfrcrange="-0.6441 0.6441" armature="0.0005"/>
|
| 640 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger5_link1__SilverNail"/>
|
| 641 |
<geom name="right_hand_finger5_link1_collision" type="mesh" mesh="right_hand_finger5_link1" group="3" contype="1" conaffinity="1" condim="3" friction="1 0.005 0.001" />
|
| 642 |
<body name="right_hand_finger5_link2" pos="0.0022 0 0.00400001" quat="0.707107 -0.00026748 -0.00026748 0.707107">
|
| 643 |
<inertial pos="1.84966e-06 0.0037023 0.0193362" quat="0.70703 0.0104245 0.0104245 0.70703" mass="0.033" diaginertia="6.34e-06 6.31472e-06 8.85281e-07"/>
|
| 644 |
<joint name="right_hand_finger5_joint2" pos="0 0 0" axis="0 1 0" range="-0.37 0.37" actuatorfrcrange="-0.1798 0.1798"/>
|
| 645 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link2__BlackGlove"/>
|
| 646 |
<geom name="right_hand_finger5_link2_col" type="capsule" size="0.0101586 0.016917" pos="0 0.003 0.0217777" rgba="0.9 0.8 0.6 1" contype="2" conaffinity="2"/>
|
| 647 |
<body name="right_hand_finger5_link3" pos="0 0.004717 0.0436213" quat="0.707012 0.000267516 0.000267444 -0.707202">
|
| 648 |
<inertial pos="0.000328501 5.05492e-06 0.0142853" quat="0.999892 0 -0.0146884 0" mass="0.0165" diaginertia="1.47088e-06 1.44e-06 4.49118e-07"/>
|
| 649 |
<joint name="right_hand_finger5_joint3" pos="0 0 0" axis="0 1 0" range="-0.4768 1.549" actuatorfrcrange="-0.2384 0.2384"/>
|
| 650 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link3__BlackGlove"/>
|
| 651 |
<geom name="right_hand_finger5_link3_col" type="capsule" size="0.0101586 0.00992035" pos="0 0 0.0146523" rgba="0.6 0.8 0.9 1" contype="1" conaffinity="1"/>
|
| 652 |
<body name="right_hand_finger5_link4" pos="0 0 0.0295">
|
| 653 |
<inertial pos="-0.000754828 -0.000172322 0.0122784" quat="0.995656 -0.00756106 -0.0927979 -0.00118593" mass="0.01718" diaginertia="1.1781e-06 1.07193e-06 4.07074e-07"/>
|
| 654 |
<joint name="right_hand_finger5_joint4" pos="0 0 0" axis="0 1 0" range="-0.4683 1.5735" actuatorfrcrange="-0.1866 0.1866"/>
|
| 655 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.05 0.05 0.05 1" mesh="fv_right_hand_finger5_link4__BlackGlove"/>
|
| 656 |
+
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.72 0.74 0.78 1" mesh="fv_right_hand_finger5_link4__SilverNail"/>
|
| 657 |
<geom name="right_hand_finger5_link4_col" type="mesh" rgba="0.6 0.8 0.9 1" mesh="right_hand_finger5_link4_simplified" contype="1" conaffinity="1"/>
|
|
|
|
| 658 |
<site name="right_hand_finger5_tip" pos="-0.000828016 0 0.0259994" group="4"/>
|
| 659 |
</body>
|
| 660 |
</body>
|
robots/tianji_wuji/wuji_hand/fused/left/.asset_hash
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
3d396fb7393cb689680971fb9d8e37b0
|
robots/tianji_wuji/wuji_hand/fused/left/config.yaml
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
asset_path: ../output/robots/wh110_soft_8/urdf/left.urdf
|
| 2 |
+
usd_dir: ../output/robots/wh110_soft_8/_work/usd_physics/left
|
| 3 |
+
usd_file_name: wujihand
|
| 4 |
+
force_usd_conversion: true
|
| 5 |
+
make_instanceable: true
|
| 6 |
+
fix_base: true
|
| 7 |
+
root_link_name: left_palm_link
|
| 8 |
+
link_density: 1
|
| 9 |
+
merge_fixed_joints: false
|
| 10 |
+
convert_mimic_joints_to_normal_joints: false
|
| 11 |
+
joint_drive:
|
| 12 |
+
drive_type: force
|
| 13 |
+
target_type: position
|
| 14 |
+
gains:
|
| 15 |
+
stiffness:
|
| 16 |
+
left_finger(1|2|3|4|5)_joint(1|2): 2
|
| 17 |
+
left_finger(1|2|3|4|5)_joint3: 1
|
| 18 |
+
left_finger(1|2|3|4|5)_joint4: 0.8
|
| 19 |
+
damping:
|
| 20 |
+
left_finger.*_joint(1|2): 0.05
|
| 21 |
+
left_finger.*_joint(3|4): 0.03
|
| 22 |
+
collider_type: convex_hull
|
| 23 |
+
self_collision: true
|
| 24 |
+
replace_cylinders_with_capsules: false
|
| 25 |
+
collision_from_visuals: false
|
| 26 |
+
##
|
| 27 |
+
# Generated by UrdfConverter on 2026-05-21 at 15:40:00.
|
| 28 |
+
##
|
robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_base.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0657785bbad5304c5cfe417b3e014ca7673b2a59c74ae7a6a497df276b34f6fb
|
| 3 |
+
size 16004306
|
robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_physics.usd
ADDED
|
Binary file (12.3 kB). View file
|
|
|
robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_robot.usd
ADDED
|
Binary file (2.5 kB). View file
|
|
|
robots/tianji_wuji/wuji_hand/fused/left/configuration/wujihand_sensor.usd
ADDED
|
Binary file (653 Bytes). View file
|
|
|
robots/tianji_wuji/wuji_hand/fused/left/textures/wuji_logo_placeholder.png
ADDED
|
Git LFS Details
|
robots/tianji_wuji/wuji_hand/fused/left/wujihand.usd
ADDED
|
Binary file (1.79 kB). View file
|
|
|
robots/tianji_wuji/wuji_hand/fused/left_simplified/.asset_hash
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
c2f131466c3c26b238f4a888bfc82d4d
|
robots/tianji_wuji/wuji_hand/fused/left_simplified/config.yaml
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
asset_path: ../output/robots/wh110_soft_8/urdf/left_simplified.urdf
|
| 2 |
+
usd_dir: ../output/robots/wh110_soft_8/_work_simplified/usd_physics/left_simplified
|
| 3 |
+
usd_file_name: wujihand
|
| 4 |
+
force_usd_conversion: true
|
| 5 |
+
make_instanceable: true
|
| 6 |
+
fix_base: true
|
| 7 |
+
root_link_name: left_palm_link
|
| 8 |
+
link_density: 1
|
| 9 |
+
merge_fixed_joints: false
|
| 10 |
+
convert_mimic_joints_to_normal_joints: false
|
| 11 |
+
joint_drive:
|
| 12 |
+
drive_type: force
|
| 13 |
+
target_type: position
|
| 14 |
+
gains:
|
| 15 |
+
stiffness:
|
| 16 |
+
left_finger(1|2|3|4|5)_joint(1|2): 2
|
| 17 |
+
left_finger(1|2|3|4|5)_joint3: 1
|
| 18 |
+
left_finger(1|2|3|4|5)_joint4: 0.8
|
| 19 |
+
damping:
|
| 20 |
+
left_finger.*_joint(1|2): 0.05
|
| 21 |
+
left_finger.*_joint(3|4): 0.03
|
| 22 |
+
collider_type: convex_hull
|
| 23 |
+
self_collision: true
|
| 24 |
+
replace_cylinders_with_capsules: false
|
| 25 |
+
collision_from_visuals: false
|
| 26 |
+
##
|
| 27 |
+
# Generated by UrdfConverter on 2026-05-21 at 15:40:28.
|
| 28 |
+
##
|
robots/tianji_wuji/wuji_hand/fused/left_simplified/configuration/wujihand_base.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
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