| <mujoco model="ability_hand"> |
| <compiler angle="radian" meshdir="assets/" /> |
|
|
| <default> |
| |
| <geom density="800" condim="1" contype="0" conaffinity="0" /> |
| |
| <position kp="100" dampratio="1.0" inheritrange="1" /> |
| <joint damping="0.0" armature="1.0" frictionloss="0.0" /> |
| <site size="0.01" type="sphere" rgba="1 0 0 1" group="3" /> |
| <default class="base"> |
| <position kp="300" dampratio="3.0" inheritrange="1" /> |
| </default> |
| </default> |
|
|
| <asset> |
| <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" |
| height="3072" /> |
| <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" |
| rgb2="1 1 1" |
| markrgb="1 1 1" width="300" height="300" /> |
| <material name="right_groundplane" texture="right_groundplane" texuniform="true" |
| texrepeat="5 5" |
| reflectance="0.2" /> |
| <mesh name="right_wristmesh" content_type="model/obj" file="wristmesh.obj" /> |
| <mesh name="right_wristmesh_C" content_type="model/obj" file="wristmesh_C.obj" /> |
| <mesh name="right_FB_palm_ref" content_type="model/obj" file="FB_palm_ref.obj" /> |
| <mesh name="right_thumb-F1" content_type="model/obj" file="thumb-F1.obj" /> |
| <mesh name="right_thumb-F1_C" content_type="model/obj" file="thumb-F1_C.obj" /> |
| <mesh name="right_thumb-F2" content_type="model/obj" file="thumb-F2.obj" /> |
| <mesh name="right_thumb-F2_C" content_type="model/obj" file="thumb-F2_C.obj" /> |
| <mesh name="right_idx-F1" content_type="model/obj" file="idx-F1.obj" /> |
| <mesh name="right_idx-F2" content_type="model/obj" file="idx-F2.obj" /> |
| <mesh name="right_idx-F2_C" content_type="model/obj" file="idx-F2_C.obj" /> |
| </asset> |
|
|
| <worldbody> |
| <light pos="0 0 3.5" dir="0 0 -1" directional="false" /> |
| <body name="L_forearm_ty_link"> |
| <camera name="right_track" pos="0.868 -0.348 -0.175" |
| xyaxes="0.037 0.999 -0.000 0.011 -0.000 1.000" /> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
| <joint name="L_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" /> |
| <body name="L_forearm_tz_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
| <joint name="L_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" /> |
| <body name="L_forearm_roll_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
| <joint name="L_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" /> |
| <body name="L_forearm_pitch_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
| <joint name="L_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" /> |
| <body name="L_forearm_yaw_link"> |
| <inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
| <joint name="L_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" |
| /> |
| <body name="right_base"> |
| <inertial pos="0.0192248 0.0101927 0.0246965" |
| quat="0.978669 -0.196697 -0.0581394 0.0116851" mass="0.6" |
| diaginertia="0.00200455 0.00200455 0.00178617" /> |
| <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" /> |
| <geom name="right_wrist_mesh" type="mesh" contype="0" conaffinity="0" group="1" |
| density="0" mesh="right_wristmesh" /> |
| <geom name="collision_hand_right_palm_0" type="mesh" mesh="right_wristmesh_C" |
| group="3" /> |
| <geom name="right_palm_mesh" pos="0.0240477 0.00378125 0.0323296" |
| quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" contype="0" |
| conaffinity="0" group="1" density="0" mesh="right_FB_palm_ref" /> |
| <geom name="collision_hand_right_palm_1" pos="0.0240477 0.00378125 0.0323296" |
| quat="0.0442297 0.00061027 0.999021 2.70192e-05" type="mesh" |
| mesh="right_FB_palm_ref" group="3" /> |
| <geom type="box" name="collision_hand_right_palm_2" size="0.03 0.02 0.04" |
| pos="0 0 0.05" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <site name="right_palm" pos="0 0 0" type="box" |
| size="0.01 0.02 0.03" quat="1 0 0 -1" /> |
| <body name="right_thumb_L1" pos="0.0240477 0.00378125 0.0323296" |
| quat="-0.00419696 0.994514 -0.0947972 0.0440301"> |
| <inertial pos="0.014606 -0.00189085 -0.00311554" |
| quat="0.306728 0.531258 0.293089 0.733336" mass="0.00268342" |
| diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" /> |
| <joint name="right_thumb_q1" pos="0 0 0" axis="0 0 -1" range="-1.8 -0.6" |
| /> |
| <geom name="right_thumb_mesh_1" pos="0.0278284 0 -0.0147507" |
| quat="-0.608761 0.793353 0 0" type="mesh" contype="0" conaffinity="0" group="1" |
| density="0" mesh="right_thumb-F1" /> |
| <geom pos="0.0278284 0 -0.0147507" quat="-0.608761 0.793353 0 0" type="mesh" |
| mesh="right_thumb-F1_C" /> |
| |
| |
| |
| <body name="right_thumb_L2" pos="0.0278284 0 -0.0147507" |
| quat="-0.608761 0.793353 0 0"> |
| <inertial pos="0.0300205 0.00559476 -0.00415044" |
| quat="0.00721249 0.656735 -0.223684 0.720148" mass="0.0055" |
| diaginertia="0.00180207 0.00170892 0.000287855" /> |
| <joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1.0" |
| /> |
| <geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" |
| quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" contype="0" |
| conaffinity="0" group="1" density="0" mesh="right_thumb-F2" /> |
| <geom pos="0.0651867 0.0233402 -0.00393483" |
| quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" |
| mesh="right_thumb-F2_C" /> |
| |
| |
| |
| <geom name="collision_hand_right_thumb_0" type="capsule" size="0.007" |
| fromto="0 0 0 0.0651867 0.0233402 -0.00393483" contype="0" conaffinity="0" |
| group="3" |
| density="0" rgba="0 1 0 1" /> |
| <site name="right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" /> |
| <site name="track_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" /> |
| <site name="trace_hand_right_thumb_tip" pos="0.0651867 0.0233402 -0.00393483" /> |
| </body> |
| </body> |
| <body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" |
| quat="-0.714459 -0.129917 0.685906 0.0469401"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" |
| quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888" |
| diaginertia="0.000381765 0.000369601 2.96432e-05" /> |
| <joint name="right_index_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_index_mesh_1" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1" |
| density="0" mesh="right_idx-F1" /> |
| <geom size="0.0085" pos="0.036 -0.00175 0" /> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom name="collision_hand_right_index_1" type="sphere" size="0.01" |
| pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <body name="right_index_L2" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" |
| quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" |
| diaginertia="0.000264645 0.000263553 1.71391e-05" /> |
| <joint name="right_index_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_index_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" |
| contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" /> |
| <geom type="mesh" mesh="right_idx-F2_C" /> |
| <geom size="0.007" pos="0.03 -0.016 0" /> |
| <geom name="collision_hand_right_index_0" type="capsule" size="0.007" |
| fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <site name="right_index_tip" pos="0.03 -0.016 0" /> |
| <site name="track_hand_right_index_tip" pos="0.03 -0.016 0" /> |
| <site name="trace_hand_right_index_tip" pos="0.03 -0.016 0" /> |
| </body> |
| </body> |
| <body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" |
| quat="-0.698395 -0.103508 0.704562 0.0715738"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" |
| quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888" |
| diaginertia="0.000381765 0.000369601 2.96432e-05" /> |
| <joint name="right_middle_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_middle_mesh_1" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1" |
| density="0" mesh="right_idx-F1" /> |
| <geom size="0.0085" pos="0.036 -0.00175 0" /> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom name="collision_hand_right_middle_1" type="sphere" size="0.01" |
| pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <body name="right_middle_L2" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" |
| quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" |
| diaginertia="0.000264645 0.000263553 1.71391e-05" /> |
| <joint name="right_middle_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_middle_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" |
| contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" /> |
| <geom type="mesh" mesh="right_idx-F2_C" /> |
| <geom size="0.007" pos="0.03 -0.016 0" /> |
| <geom name="collision_hand_right_middle_0" type="capsule" size="0.007" |
| fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <site name="right_middle_tip" pos="0.03 -0.016 0" /> |
| <site name="track_hand_right_middle_tip" pos="0.03 -0.016 0" /> |
| <site name="trace_hand_right_middle_tip" pos="0.03 -0.016 0" /> |
| </body> |
| </body> |
| <body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" |
| quat="-0.681173 -0.0769649 0.721351 0.0986547"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" |
| quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888" |
| diaginertia="0.000381765 0.000369601 2.96432e-05" /> |
| <joint name="right_ring_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0" /> |
| <geom name="right_ring_mesh_1" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244" |
| type="mesh" contype="0" conaffinity="0" group="1" density="0" |
| mesh="right_idx-F1" /> |
| <geom size="0.0085" pos="0.036 -0.00175 0" /> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom name="collision_hand_right_ring_1" type="sphere" size="0.01" |
| pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <body name="right_ring_L2" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" |
| quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" |
| diaginertia="0.000264645 0.000263553 1.71391e-05" /> |
| <joint name="right_ring_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_ring_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" |
| contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" /> |
| <geom type="mesh" mesh="right_idx-F2_C" /> |
| <geom size="0.007" pos="0.03 -0.016 0" /> |
| <geom name="collision_hand_right_ring_0" type="capsule" size="0.007" |
| fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <site name="right_ring_tip" pos="0.03 -0.016 0" /> |
| <site name="track_hand_right_ring_tip" pos="0.03 -0.016 0" /> |
| <site name="trace_hand_right_ring_tip" pos="0.03 -0.016 0" /> |
| </body> |
| </body> |
| <body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" |
| quat="-0.681748 -0.0544096 0.719226 0.122363"> |
| <inertial pos="0.0224191 -0.000157982 -1.31987e-05" |
| quat="-0.00406251 0.706621 0.00934715 0.707518" mass="0.00635888" |
| diaginertia="0.000381765 0.000369601 2.96432e-05" /> |
| <joint name="right_pinky_q1" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_pinky_mesh_1" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244" type="mesh" contype="0" conaffinity="0" group="1" |
| density="0" mesh="right_idx-F1" /> |
| <geom size="0.0085" pos="0.036 -0.00175 0" /> |
| <geom size="0.014 0.006 0.008" pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.01 0.005 0.008" pos="0.018 0.006 0" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom size="0.006 0.006 0.001" pos="-0.001 0 -0.007" quat="0.999108 0 0 0.0422374" |
| type="box" /> |
| <geom name="collision_hand_right_pinky_1" type="sphere" size="0.01" |
| pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <body name="right_pinky_L2" pos="0.0384727 0.0032577 0" |
| quat="0.999108 0 0 0.0422244"> |
| <inertial pos="0.0133682 -0.00875392 -2.886e-05" |
| quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" |
| diaginertia="0.000264645 0.000263553 1.71391e-05" /> |
| <joint name="right_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
| /> |
| <geom name="right_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" |
| contype="0" conaffinity="0" group="1" density="0" mesh="right_idx-F2" /> |
| <geom type="mesh" mesh="right_idx-F2_C" /> |
| <geom size="0.007" pos="0.03 -0.016 0" /> |
| <geom name="collision_hand_right_pinky_0" type="capsule" size="0.007" |
| fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3" |
| density="0" rgba="0 1 0 1" /> |
| <site name="right_pinky_tip" pos="0.03 -0.016 0" /> |
| <site name="track_hand_right_pinky_tip" pos="0.03 -0.016 0" /> |
| <site name="trace_hand_right_pinky_tip" pos="0.03 -0.016 0" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
| <actuator> |
| |
| <position class="base" name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" /> |
| <position class="base" name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" /> |
| <position class="base" name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" /> |
| <position class="base" name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" /> |
| <position class="base" name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" /> |
| <position class="base" name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" /> |
|
|
| |
| <position name="right_thumb_q1_position" joint="right_thumb_q1" /> |
| <position name="right_thumb_q2_position" joint="right_thumb_q2" /> |
|
|
| |
| <position name="right_index_q1_position" joint="right_index_q1" /> |
| <position name="right_index_q2_position" joint="right_index_q2" /> |
|
|
| |
| <position name="right_middle_q1_position" joint="right_middle_q1" /> |
| <position name="right_middle_q2_position" joint="right_middle_q2" /> |
|
|
| |
| <position name="right_ring_q1_position" joint="right_ring_q1" /> |
| <position name="right_ring_q2_position" joint="right_ring_q2" /> |
|
|
| |
| <position name="right_pinky_q1_position" joint="right_pinky_q1" /> |
| <position name="right_pinky_q2_position" joint="right_pinky_q2" /> |
|
|
| </actuator> |
| </mujoco> |
|
|
