| <mujoco model="xhand_left"> |
| <compiler angle="radian" meshdir="assets/" /> |
|
|
| <default> |
| |
| <geom density="800" condim="1" contype="0" conaffinity="0" /> |
| |
| <position kp="300" 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> |
|
|
| <asset> |
| <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" |
| height="3072" /> |
| <texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" |
| rgb2="0.1 0.2 0.3" |
| markrgb="0.8 0.8 0.8" width="300" height="300" /> |
| <material name="left_groundplane" texture="left_groundplane" texuniform="true" |
| texrepeat="5 5" |
| reflectance="0.2" /> |
| <mesh name="left_hand_link" content_type="model/stl" file="left_hand_link.STL" /> |
| <mesh name="left_hand_thumb_bend_link" content_type="model/stl" |
| file="left_hand_thumb_bend_link.STL" /> |
| <mesh name="left_hand_thumb_rota_link1" content_type="model/stl" |
| file="left_hand_thumb_rota_link1.STL" /> |
| <mesh name="left_hand_thumb_rota_link2" content_type="model/stl" |
| file="left_hand_thumb_rota_link2.STL" /> |
| <mesh name="left_hand_index_bend_link" content_type="model/stl" |
| file="left_hand_index_bend_link.STL" /> |
| <mesh name="left_hand_index_rota_link1" content_type="model/stl" |
| file="left_hand_index_rota_link1.STL" /> |
| <mesh name="left_hand_index_rota_link2" content_type="model/stl" |
| file="left_hand_index_rota_link2.STL" /> |
| <mesh name="left_hand_mid_link1" content_type="model/stl" file="left_hand_mid_link1.STL" /> |
| <mesh name="left_hand_mid_link2" content_type="model/stl" file="left_hand_mid_link2.STL" /> |
| <mesh name="left_hand_ring_link1" content_type="model/stl" file="left_hand_ring_link1.STL" /> |
| <mesh name="left_hand_ring_link2" content_type="model/stl" file="left_hand_ring_link2.STL" /> |
| <mesh name="left_hand_pinky_link1" content_type="model/stl" file="left_hand_pinky_link1.STL" /> |
| <mesh name="left_hand_pinky_link2" content_type="model/stl" file="left_hand_pinky_link2.STL" /> |
| </asset> |
|
|
| <worldbody> |
| <body name="L_forearm_ty_link"> |
| <camera name="left_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="left_hand_link"> |
| <inertial pos="-0.00718397 -0.00342396 -0.0584832" |
| quat="0.712643 0.0910084 0.100904 0.688241" mass="0.529961" |
| diaginertia="0.000678163 0.000491768 0.000335587" /> |
| <joint name="L_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" |
| /> |
| <geom name="left_hand_link_visual" type="mesh" contype="0" conaffinity="0" group="1" |
| density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_link" /> |
| <geom name="collision_hand_left_palm_0" type="box" size="0.03 0.02 0.04" |
| pos="0 0 -0.06" |
| rgba="0 1 0 1" group="3" /> |
| <site name="left_palm" pos="0 0 0" type="box" size="0.01 0.02 0.03" quat="0 1 -1 0" /> |
| <body name="left_hand_thumb_bend_link" pos="0.0228 -0.0095 -0.0305"> |
| <inertial pos="0.0145291 0.000901344 -0.000127912" |
| quat="-0.028902 0.68936 -0.0167067 0.72365" mass="0.00985534" |
| diaginertia="1.30648e-06 1.29142e-06 5.40957e-07" /> |
| <joint name="left_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 -1" range="0 1.83" |
| /> |
| <geom name="left_thumb_bend_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.890196 0.890196 0.913725 1" |
| mesh="left_hand_thumb_bend_link" /> |
| <geom name="collision_hand_left_thumb_2" type="capsule" size="0.008" |
| fromto="0 0 0 0.02 0 0" |
| rgba="0 1 0 1" group="3" /> |
| <body name="left_hand_thumb_rota_link1" pos="0.028599 -0.0083177 0.00178" |
| quat="0.99124 -0.130499 0.00265603 -0.0201745"> |
| <inertial pos="0.0279279 0.000121046 -0.000277543" |
| quat="0.0994744 0.703642 -0.0845458 0.698459" mass="0.153197" |
| diaginertia="5.62164e-05 4.89587e-05 2.23807e-05" /> |
| <joint name="left_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" |
| range="-1.05 1.57" /> |
| <geom name="left_thumb_rota1_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="1 1 1 1" mesh="left_hand_thumb_rota_link1" /> |
| <geom name="collision_hand_left_thumb_1" type="capsule" size="0.01" |
| fromto="0 0 0 0.055 0 0" rgba="0 1 0 1" |
| group="3" /> |
| <body name="left_hand_thumb_rota_link2" pos="0.0553 0 0"> |
| <inertial pos="0.0224529 0.000690615 0.00314279" |
| quat="0.0604386 0.713745 -0.0199603 0.697508" mass="0.037401" |
| diaginertia="9.54692e-06 8.2705e-06 3.92141e-06" /> |
| <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" |
| range="-0.17 1.83" /> |
| <geom name="left_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.384314 0.384314 0.384314 1" |
| mesh="left_hand_thumb_rota_link2" /> |
| <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008" |
| fromto="0 0 0 0.045 0 0" |
| rgba="0 1 0 1" |
| group="3" /> |
| <geom size="0.001" pos="0.0504017 0 0" contype="0" conaffinity="0" group="1" |
| density="0" rgba="0.698039 0.698039 0.698039 1" /> |
| <site name="left_thumb_tip" pos="0.0504017 0 0" /> |
| <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0" /> |
| <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0" /> |
| </body> |
| </body> |
| </body> |
| <body name="left_hand_index_bend_link" pos="0.0265 -0.0065 -0.0899"> |
| <inertial pos="-0.000134545 -0.000675884 0.00420851" |
| quat="0.999797 0.0190041 0.00232573 0.00634399" mass="0.0677836" |
| diaginertia="2.16573e-05 2.09935e-05 3.36931e-06" /> |
| <joint name="left_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" |
| range="-0.175 0.175" /> |
| <geom name="left_index_bend_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.988235 0.737255 0.517647 1" |
| mesh="left_hand_index_bend_link" /> |
|
|
| <body name="left_hand_index_rota_link1" pos="0 0 -0.0178"> |
| <inertial pos="0.000139769 0.000800517 -0.0356039" |
| quat="0.999865 -0.00809181 0.0131314 0.00566203" mass="0.0630216" |
| diaginertia="2.05301e-05 1.92461e-05 4.135e-06" /> |
| <joint name="left_hand_index_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_index_rota1_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="1 1 1 1" mesh="left_hand_index_rota_link1" /> |
| <geom name="collision_hand_left_index_1" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" /> |
| <body name="left_hand_index_rota_link2" pos="0 0 -0.0558"> |
| <inertial pos="0.000338569 -1.93676e-05 -0.0231329" |
| quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" |
| diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" /> |
| <joint name="left_hand_index_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_index_rota2_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.866667 0.866667 0.890196 1" |
| mesh="left_hand_index_rota_link2" /> |
| <geom name="collision_hand_left_index_0" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" /> |
| <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1" |
| density="0" rgba="0.698039 0.698039 0.698039 1" /> |
| <site name="left_index_tip" pos="0 0 -0.0425" /> |
| <site name="track_hand_left_index_tip" pos="0 0 -0.0425" /> |
| <site name="trace_hand_left_index_tip" pos="0 0 -0.0425" /> |
| </body> |
| </body> |
| </body> |
| <body name="left_hand_mid_link1" pos="0.004 -0.0065 -0.1082"> |
| <inertial pos="0.00013977 0.000800517 -0.0356039" |
| quat="0.999865 -0.00809181 0.0131314 0.00566198" mass="0.0630216" |
| diaginertia="2.05301e-05 1.92461e-05 4.135e-06" /> |
| <joint name="left_hand_mid_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_middle_link1_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="1 1 1 1" mesh="left_hand_mid_link1" /> |
| <geom name="collision_hand_left_middle_1" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" /> |
| <body name="left_hand_mid_link2" pos="0 0 -0.0558"> |
| <inertial pos="0.000338572 -1.93625e-05 -0.0231328" |
| quat="0.935372 -0.00588866 0.0260883 0.352653" mass="0.0179923" |
| diaginertia="3.02409e-06 3.01968e-06 9.82702e-07" /> |
| <joint name="left_hand_mid_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_middle_link2_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.866667 0.866667 0.890196 1" |
| mesh="left_hand_mid_link2" /> |
| <geom name="collision_hand_left_middle_0" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" /> |
| <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1" |
| density="0" rgba="0.698039 0.698039 0.698039 1" /> |
| <site name="left_middle_tip" pos="0 0 -0.0425" /> |
| <site name="track_hand_left_middle_tip" pos="0 0 -0.0425" /> |
| <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425" /> |
| </body> |
| </body> |
| <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052"> |
| <inertial pos="0.00013977 0.000800517 -0.0356039" |
| quat="0.999865 -0.00809184 0.0131314 0.00566198" mass="0.0630216" |
| diaginertia="2.05301e-05 1.92461e-05 4.13501e-06" /> |
| <joint name="left_hand_ring_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_ring_link1_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="1 1 1 1" mesh="left_hand_ring_link1" /> |
| <geom name="collision_hand_left_ring_1" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" /> |
| <body name="left_hand_ring_link2" pos="0 0 -0.0558"> |
| <inertial pos="0.000338569 -1.93676e-05 -0.0231329" |
| quat="0.935384 -0.00588977 0.0260883 0.35262" mass="0.0179923" |
| diaginertia="3.02409e-06 3.01968e-06 9.82703e-07" /> |
| <joint name="left_hand_ring_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_ring_link2_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.866667 0.866667 0.890196 1" |
| mesh="left_hand_ring_link2" /> |
| <geom name="collision_hand_left_ring_0" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" /> |
| <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1" |
| density="0" rgba="0.698039 0.698039 0.698039 1" /> |
| <site name="left_ring_tip" pos="0 0 -0.0425" /> |
| <site name="track_hand_left_ring_tip" pos="0 0 -0.0425" /> |
| <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425" /> |
| </body> |
| </body> |
| <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022"> |
| <inertial pos="0.000139769 0.000800517 -0.0356039" |
| quat="0.999865 -0.00809183 0.0131314 0.00566202" mass="0.0630216" |
| diaginertia="2.05301e-05 1.92461e-05 4.135e-06" /> |
| <joint name="left_hand_pinky_joint1" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_pinky_link1_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="1 1 1 1" mesh="left_hand_pinky_link1" /> |
| <geom name="collision_hand_left_pinky_1" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.055" rgba="0 1 0 1" group="3" /> |
| <body name="left_hand_pinky_link2" pos="0 0 -0.0558"> |
| <inertial pos="0.000338573 -1.93618e-05 -0.0231328" |
| quat="0.935377 -0.00588901 0.0260881 0.35264" mass="0.0179923" |
| diaginertia="3.02409e-06 3.01968e-06 9.82702e-07" /> |
| <joint name="left_hand_pinky_joint2" pos="0 0 0" axis="-1 0 0" range="0 1.92" |
| /> |
| <geom name="left_pinky_link2_visual" type="mesh" contype="0" conaffinity="0" |
| group="1" density="0" rgba="0.866667 0.866667 0.890196 1" |
| mesh="left_hand_pinky_link2" /> |
| <geom name="collision_hand_left_pinky_0" type="capsule" size="0.008" |
| fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" /> |
| <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1" |
| density="0" rgba="0.698039 0.698039 0.698039 1" /> |
| <site name="left_pinky_tip" pos="0 0 -0.0425" /> |
| <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425" /> |
| <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
|
|
| <actuator> |
| |
| <position name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" kp="1000" /> |
| <position name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" kp="1000" /> |
| <position name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" kp="1000" /> |
| <position name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" kp="1000" /> |
| <position name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" kp="1000" /> |
| <position name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" kp="1000" /> |
|
|
| |
| <position name="left_thumb_bend_position" joint="left_hand_thumb_bend_joint" /> |
| <position name="left_thumb_rota1_position" joint="left_hand_thumb_rota_joint1" /> |
| <position name="left_thumb_rota2_position" joint="left_hand_thumb_rota_joint2" /> |
|
|
| |
| <position name="left_index_bend_position" joint="left_hand_index_bend_joint" /> |
| <position name="left_index_joint1_position" joint="left_hand_index_joint1" /> |
| <position name="left_index_joint2_position" joint="left_hand_index_joint2" /> |
|
|
| |
| <position name="left_middle_joint1_position" joint="left_hand_mid_joint1" /> |
| <position name="left_middle_joint2_position" joint="left_hand_mid_joint2" /> |
|
|
| |
| <position name="left_ring_joint1_position" joint="left_hand_ring_joint1" /> |
| <position name="left_ring_joint2_position" joint="left_hand_ring_joint2" /> |
|
|
| |
| <position name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" /> |
| <position name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" /> |
| </actuator> |
| </mujoco> |
