| <mujoco model="right_sharpa"> |
| <compiler angle="radian" meshdir="../../../assets/"/> |
|
|
| <option timestep="0.01" solver="CG" iterations="6"> |
| <flag eulerdamp="disable"/> |
| </option> |
|
|
| <default> |
| <joint armature="1"/> |
| <geom contype="0" conaffinity="0" condim="1" density="800"/> |
| <site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/> |
| <general biastype="affine" gainprm="300" biasprm="0 -300 1"/> |
| </default> |
|
|
| <asset> |
| <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/> |
| <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" width="300" height="300"/> |
| <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/> |
| <texture type="cube" colorspace="auto" name="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="1800"/> |
| <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> |
| <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> |
| <mesh name="right_hand_C_MC_visual" file="robots/sharpa/meshes/right_hand_C_MC_visual_.STL"/> |
| <mesh name="right_hand_C_MC" file="robots/sharpa/meshes/right_hand_C_MC.STL"/> |
| <mesh name="right_thumb_CMC_VL_visual" file="robots/sharpa/meshes/right_thumb_CMC_VL_visual.STL"/> |
| <mesh name="right_thumb_MC_visual" file="robots/sharpa/meshes/right_thumb_MC_visual.STL"/> |
| <mesh name="right_thumb_MC" file="robots/sharpa/meshes/right_thumb_MC.STL"/> |
| <mesh name="right_thumb_MCP_VL_visual" file="robots/sharpa/meshes/right_thumb_MCP_VL_visual.STL"/> |
| <mesh name="right_thumb_PP_visual" file="robots/sharpa/meshes/right_thumb_PP_visual.STL"/> |
| <mesh name="right_thumb_PP" file="robots/sharpa/meshes/right_thumb_PP.STL"/> |
| <mesh name="right_thumb_DP_visual" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/> |
| <mesh name="right_thumb_DP" file="robots/sharpa/meshes/right_thumb_DP_visual.STL"/> |
| <mesh name="right_thumb_elastomer" file="robots/sharpa/meshes/thumb_elastomer.STL"/> |
| <mesh name="right_MCP_VL_visual" file="robots/sharpa/meshes/right_MCP_VL_visual.STL"/> |
| <mesh name="right_MCP_VL" file="robots/sharpa/meshes/MCP_VL.STL"/> |
| <mesh name="right_PP_visual" file="robots/sharpa/meshes/right_PP_visual.STL"/> |
| <mesh name="right_PP" file="robots/sharpa/meshes/right_PP.STL"/> |
| <mesh name="right_MP_visual" file="robots/sharpa/meshes/right_MP_visual.STL"/> |
| <mesh name="right_MP" file="robots/sharpa/meshes/right_MP.STL"/> |
| <mesh name="right_DP_visual" file="robots/sharpa/meshes/right_DP_visual.STL"/> |
| <mesh name="right_DP" file="robots/sharpa/meshes/right_DP_visual.STL"/> |
| <mesh name="right_elastomer" file="robots/sharpa/meshes/elastomer.STL"/> |
| <mesh name="right_pinky_MC_visual" file="robots/sharpa/meshes/right_pinky_MC_visual.STL"/> |
| <mesh name="right_pinky_MC" file="robots/sharpa/meshes/right_pinky_MC.STL"/> |
| <mesh name="right_visual" file="objects/O02_0055_00002/visual.obj"/> |
| <mesh name="right_0" file="objects/O02_0055_00002/convex/0.obj"/> |
| <mesh name="right_1" file="objects/O02_0055_00002/convex/1.obj"/> |
| <mesh name="right_2" file="objects/O02_0055_00002/convex/2.obj"/> |
| <mesh name="right_3" file="objects/O02_0055_00002/convex/3.obj"/> |
| <mesh name="right_4" file="objects/O02_0055_00002/convex/4.obj"/> |
| <mesh name="right_5" file="objects/O02_0055_00002/convex/5.obj"/> |
| <mesh name="right_6" file="objects/O02_0055_00002/convex/6.obj"/> |
| <mesh name="right_7" file="objects/O02_0055_00002/convex/7.obj"/> |
| <mesh name="right_8" file="objects/O02_0055_00002/convex/8.obj"/> |
| </asset> |
|
|
| <worldbody> |
| <geom name="floor" size="0 0 0.05" pos="0 0 -0.001" type="plane" material="right_groundplane"/> |
| <camera name="right_track" pos="0.868 0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196" mode="trackcom"/> |
| <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/> |
| <light pos="0 0 3" dir="0 0 -1" type="directional"/> |
| <body name="right_hand_base" pos="0 0 0.2"> |
| <joint name="right_pos_x" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/> |
| <joint name="right_pos_y" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/> |
| <joint name="right_pos_z" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/> |
| <joint name="right_rot_x" pos="0 0 0" axis="1 0 0" range="-6.28 6.28"/> |
| <joint name="right_rot_y" pos="0 0 0" axis="0 1 0" range="-6.28 6.28"/> |
| <joint name="right_rot_z" pos="0 0 0" axis="0 0 1" range="-6.28 6.28"/> |
| <body name="right_hand_C_MC"> |
| <inertial pos="-0.00216 0.00536 0.04011" quat="0.713832 -0.0659364 0.0757239 0.693082" mass="0.6506" diaginertia="0.000814964 0.000674257 0.00027314"/> |
| <geom name="right_hand_C_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC_visual"/> |
| <geom name="right_hand_C_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_hand_C_MC"/> |
| <geom name="collision_hand_right_palm_0" size="0.02 0.04 0.04" pos="0 0 0.05" type="box" group="3" rgba="0 1 0 1"/> |
| <site name="right_palm" pos="0 0 0.05" rgba="1 1 0 1"/> |
| <body name="right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="-2.59734e-06 0.707105 0.707108 -2.59735e-06"> |
| <inertial pos="-0.00065 0.0002 0" quat="0.434754 0.557664 -0.434754 0.557664" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/> |
| <joint name="right_thumb_CMC_FE" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/> |
| <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_CMC_VL_visual"/> |
| <body name="right_thumb_MC" pos="0 -0.005 0" quat="0.65328 -0.653282 0.270598 0.270599"> |
| <inertial pos="0.03643 -0.01024 0.00517" quat="-0.151259 0.696943 -0.154462 0.683763" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/> |
| <joint name="right_thumb_CMC_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/> |
| <geom name="right_thumb_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC_visual"/> |
| <geom name="right_thumb_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MC"/> |
| <geom name="collision_hand_right_thumb_3" size="0.01 0.025" pos="0.032 -0.003 0.005" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_thumb_MCP_VL" pos="0.065 -0.006 0.010392" quat="0.965926 0.25882 0 0"> |
| <inertial pos="-1.29e-09 -1.1e-10 0" quat="0.515163 0.484363 -0.515163 0.484363" mass="8e-05" diaginertia="7.9e-08 6.40993e-08 3.79007e-08"/> |
| <joint name="right_thumb_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/> |
| <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_MCP_VL_visual"/> |
| <body name="right_thumb_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.021256 -0.00095 -0.00092" quat="0.44358 0.511613 0.483631 0.554609" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/> |
| <joint name="right_thumb_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/> |
| <geom name="right_thumb_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP_visual"/> |
| <geom name="right_thumb_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_PP"/> |
| <geom name="collision_hand_right_thumb_2" size="0.008 0.015" pos="0.019 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.00821817 -0.00177722 -0.000997218" quat="-0.255985 0.713848 -0.187441 0.624306" mass="0.007981" diaginertia="1.0905e-06 1.04136e-06 2.95182e-07"/> |
| <joint name="right_thumb_IP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/> |
| <geom name="right_thumb_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP_visual"/> |
| <geom name="right_thumb_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_thumb_DP"/> |
| <geom name="right_thumb_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/> |
| <geom name="right_thumb_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_thumb_elastomer"/> |
| <geom name="collision_hand_right_thumb_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <geom name="collision_hand_right_thumb_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <site name="trace_hand_right_thumb_tip" pos="0.028 0 0" size="0.005"/> |
| <site name="right_thumb_tip" pos="0.028 0 0" rgba="0 1 1 1"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5"> |
| <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/> |
| <joint name="right_index_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/> |
| <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/> |
| <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/> |
| <body name="right_index_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/> |
| <joint name="right_index_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/> |
| <geom name="right_index_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/> |
| <geom name="right_index_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/> |
| <geom name="collision_hand_right_index_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_index_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/> |
| <joint name="right_index_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/> |
| <geom name="right_index_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/> |
| <geom name="right_index_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/> |
| <geom name="collision_hand_right_index_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_index_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/> |
| <joint name="right_index_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/> |
| <geom name="right_index_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/> |
| <geom name="right_index_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/> |
| <geom name="right_index_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="right_index_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="collision_hand_right_index_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <geom name="collision_hand_right_index_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <site name="trace_hand_right_index_tip" pos="0.028 0 0" size="0.005"/> |
| <site name="right_index_tip" pos="0.028 0 0" rgba="0 1 1 1"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5"> |
| <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/> |
| <joint name="right_middle_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/> |
| <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/> |
| <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/> |
| <body name="right_middle_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/> |
| <joint name="right_middle_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/> |
| <geom name="right_middle_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/> |
| <geom name="right_middle_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/> |
| <geom name="collision_hand_right_middle_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_middle_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/> |
| <joint name="right_middle_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/> |
| <geom name="right_middle_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/> |
| <geom name="right_middle_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/> |
| <geom name="collision_hand_right_middle_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_middle_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/> |
| <joint name="right_middle_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/> |
| <geom name="right_middle_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/> |
| <geom name="right_middle_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/> |
| <geom name="right_middle_elastomer_visual" quat="0.5 0.5 -0.5 0.5" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="right_middle_elastomer" quat="0.5 0.5 -0.5 0.5" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="collision_hand_right_middle_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <geom name="collision_hand_right_middle_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <site name="trace_hand_right_middle_tip" pos="0.028 0 0" size="0.005"/> |
| <site name="right_middle_tip" pos="0.028 0 0" rgba="0 1 1 1"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5"> |
| <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/> |
| <joint name="right_ring_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/> |
| <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/> |
| <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/> |
| <body name="right_ring_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/> |
| <joint name="right_ring_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/> |
| <geom name="right_ring_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/> |
| <geom name="right_ring_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/> |
| <geom name="collision_hand_right_ring_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_ring_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/> |
| <joint name="right_ring_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/> |
| <geom name="right_ring_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/> |
| <geom name="right_ring_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/> |
| <geom name="collision_hand_right_ring_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_ring_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/> |
| <joint name="right_ring_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/> |
| <geom name="right_ring_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/> |
| <geom name="right_ring_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/> |
| <geom name="right_ring_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.2 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="right_ring_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.2 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="collision_hand_right_ring_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <geom name="collision_hand_right_ring_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <site name="trace_hand_right_ring_tip" pos="0.028 0 0" size="0.005"/> |
| <site name="right_ring_tip" pos="0.028 0 0" rgba="0 1 1 1"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_pinky_MC" pos="0.01136 -0.0263 0.0869" quat="-3.67321e-06 0 0 1"> |
| <inertial pos="0.0107985 0.00598801 0.0335125" quat="0.706956 -0.000832392 -0.0268047 0.706749" mass="0.12541" diaginertia="4.47765e-05 3.72569e-05 1.69876e-05"/> |
| <joint name="right_pinky_CMC" pos="0 0 0" axis="0 0 1" range="0 0.2618"/> |
| <geom name="right_pinky_MC_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC_visual"/> |
| <geom name="right_pinky_MC" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_pinky_MC"/> |
| <body name="right_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 0.5 -0.5 0.500002"> |
| <inertial pos="-0.0092 0.0013 0" quat="0.519686 0.479506 -0.519686 0.479506" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/> |
| <joint name="right_pinky_MCP_FE" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/> |
| <geom type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL_visual"/> |
| <geom type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MCP_VL"/> |
| <body name="right_pinky_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 0.00068" quat="0.512565 0.504813 0.502719 0.479286" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/> |
| <joint name="right_pinky_MCP_AA" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/> |
| <geom name="right_pinky_PP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP_visual"/> |
| <geom name="right_pinky_PP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_PP"/> |
| <geom name="collision_hand_right_pinky_3" size="0.008 0.019" pos="0.023 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_pinky_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/> |
| <joint name="right_pinky_PIP" pos="0 0 0" axis="0 0 1" range="0 1.7453"/> |
| <geom name="right_pinky_MP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP_visual"/> |
| <geom name="right_pinky_MP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_MP"/> |
| <geom name="collision_hand_right_pinky_2" size="0.008 0.013" pos="0.015 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <body name="right_pinky_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124885 -0.00257289 -0.000107611" quat="-0.0492916 0.716628 -0.0583643 0.693259" mass="0.004651" diaginertia="3.15336e-07 3.09757e-07 1.34861e-07"/> |
| <joint name="right_pinky_DIP" pos="0 0 0" axis="0 0 1" range="0 1.3963"/> |
| <geom name="right_pinky_DP_visual" type="mesh" group="1" density="0" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP_visual"/> |
| <geom name="right_pinky_DP" type="mesh" group="3" rgba="0.79216 0.81961 0.93333 1" mesh="right_DP"/> |
| <geom name="right_pinky_elastomer_visual" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="1" density="0" rgba="0.1 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="right_pinky_elastomer" quat="0.499998 0.5 -0.5 0.500002" type="mesh" group="3" rgba="0.1 1 0.2 1" mesh="right_elastomer"/> |
| <geom name="collision_hand_right_pinky_1" size="0.008 0.008" pos="0.012 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <geom name="collision_hand_right_pinky_0" size="0.008 0.006" pos="0.022 0 0" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/> |
| <site name="trace_hand_right_pinky_tip" pos="0.028 0 0" size="0.005"/> |
| <site name="right_pinky_tip" pos="0.028 0 0" rgba="0 1 1 1"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_object"> |
| <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/> |
| <geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/> |
| <geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/> |
| <geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/> |
| <geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/> |
| <geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/> |
| <geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/> |
| <geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/> |
| <geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/> |
| <geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/> |
| <geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/> |
| <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/> |
| <site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_thumb_tip" pos="-0.0261113 -0.00586368 -0.00734901" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_index_tip" pos="0.032969 0.0104408 0.00387521" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_middle_tip" pos="0.0343274 0.00216187 0.0202503" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_ring_tip" pos="0.0373701 0.00122037 0.0310045" group="4" rgba="0 1 0 1"/> |
| <site name="track_object_right_pinky_tip" pos="0.0325724 0.0267641 0.0617795" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_thumb_tip" mocap="true"> |
| <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_thumb_tip" mocap="true"> |
| <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_index_tip" mocap="true"> |
| <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_index_tip" mocap="true"> |
| <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_middle_tip" mocap="true"> |
| <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_middle_tip" mocap="true"> |
| <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_ring_tip" mocap="true"> |
| <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_ring_tip" mocap="true"> |
| <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_object_right_pinky_tip" mocap="true"> |
| <site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| <body name="ref_hand_right_pinky_tip" mocap="true"> |
| <site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/> |
| </body> |
| </worldbody> |
|
|
| <contact> |
| <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_0" name="collision_hand_right_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_1" name="collision_hand_right_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_2" name="collision_hand_right_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_3" name="collision_hand_right_thumb_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_4" name="collision_hand_right_thumb_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_5" name="collision_hand_right_thumb_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_6" name="collision_hand_right_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_7" name="collision_hand_right_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_3" geom2="right_object_8" name="collision_hand_right_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_0" name="collision_hand_right_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_1" name="collision_hand_right_index_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_2" name="collision_hand_right_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_3" name="collision_hand_right_index_3_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_4" name="collision_hand_right_index_3_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_5" name="collision_hand_right_index_3_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_6" name="collision_hand_right_index_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_7" name="collision_hand_right_index_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_3" geom2="right_object_8" name="collision_hand_right_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_2" geom2="right_object_8" name="collision_hand_right_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_0" name="collision_hand_right_middle_3_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_1" name="collision_hand_right_middle_3_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_2" name="collision_hand_right_middle_3_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_3" name="collision_hand_right_middle_3_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_4" name="collision_hand_right_middle_3_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_5" name="collision_hand_right_middle_3_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_6" name="collision_hand_right_middle_3_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_7" name="collision_hand_right_middle_3_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_3" geom2="right_object_8" name="collision_hand_right_middle_3_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_2" geom2="right_object_8" name="collision_hand_right_middle_2_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_0" name="collision_hand_right_ring_3_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_1" name="collision_hand_right_ring_3_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_2" name="collision_hand_right_ring_3_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_3" name="collision_hand_right_ring_3_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_4" name="collision_hand_right_ring_3_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_5" name="collision_hand_right_ring_3_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_6" name="collision_hand_right_ring_3_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_7" name="collision_hand_right_ring_3_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_3" geom2="right_object_8" name="collision_hand_right_ring_3_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_2" geom2="right_object_8" name="collision_hand_right_ring_2_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_0" name="collision_hand_right_pinky_3_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_1" name="collision_hand_right_pinky_3_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_2" name="collision_hand_right_pinky_3_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_3" name="collision_hand_right_pinky_3_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_4" name="collision_hand_right_pinky_3_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_5" name="collision_hand_right_pinky_3_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_6" name="collision_hand_right_pinky_3_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_7" name="collision_hand_right_pinky_3_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_3" geom2="right_object_8" name="collision_hand_right_pinky_3_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_0" name="collision_hand_right_pinky_2_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_1" name="collision_hand_right_pinky_2_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_2" name="collision_hand_right_pinky_2_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_3" name="collision_hand_right_pinky_2_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_4" name="collision_hand_right_pinky_2_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_5" name="collision_hand_right_pinky_2_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_6" name="collision_hand_right_pinky_2_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_7" name="collision_hand_right_pinky_2_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_2" geom2="right_object_8" name="collision_hand_right_pinky_2_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/> |
| <pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/> |
| <exclude body1="right_hand_C_MC" body2="right_hand_C_MC"/> |
| <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/> |
| <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/> |
| <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/> |
| <exclude body1="right_hand_C_MC" body2="right_index_PP"/> |
| <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/> |
| <exclude body1="right_hand_C_MC" body2="right_middle_PP"/> |
| <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/> |
| <exclude body1="right_hand_C_MC" body2="right_ring_PP"/> |
| <exclude body1="right_hand_C_MC" body2="right_pinky_MC"/> |
| <exclude body1="right_thumb_MC" body2="right_thumb_MCP_VL"/> |
| <exclude body1="right_thumb_MC" body2="right_thumb_PP"/> |
| <exclude body1="right_thumb_MCP_VL" body2="right_thumb_PP"/> |
| <exclude body1="right_thumb_PP" body2="right_thumb_DP"/> |
| <exclude body1="right_index_MCP_VL" body2="right_index_PP"/> |
| <exclude body1="right_index_PP" body2="right_index_MP"/> |
| <exclude body1="right_index_MP" body2="right_index_DP"/> |
| <exclude body1="right_middle_MCP_VL" body2="right_middle_PP"/> |
| <exclude body1="right_middle_PP" body2="right_middle_MP"/> |
| <exclude body1="right_middle_MP" body2="right_middle_DP"/> |
| <exclude body1="right_ring_MCP_VL" body2="right_ring_PP"/> |
| <exclude body1="right_ring_PP" body2="right_ring_MP"/> |
| <exclude body1="right_ring_MP" body2="right_ring_DP"/> |
| <exclude body1="right_pinky_MC" body2="right_pinky_MCP_VL"/> |
| <exclude body1="right_pinky_MC" body2="right_pinky_PP"/> |
| <exclude body1="right_pinky_MCP_VL" body2="right_pinky_PP"/> |
| <exclude body1="right_pinky_PP" body2="right_pinky_MP"/> |
| <exclude body1="right_pinky_MP" body2="right_pinky_DP"/> |
| </contact> |
|
|
| <actuator> |
| <general name="right_pos_x_position" joint="right_pos_x" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/> |
| <general name="right_pos_y_position" joint="right_pos_y" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/> |
| <general name="right_pos_z_position" joint="right_pos_z" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/> |
| <general name="right_rot_x_position" joint="right_rot_x" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/> |
| <general name="right_rot_y_position" joint="right_rot_y" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/> |
| <general name="right_rot_z_position" joint="right_rot_z" ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/> |
| <general name="right_thumb_CMC_FE_ctrl" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" biasprm="0 -300 0.9"/> |
| <general name="right_thumb_CMC_AA_ctrl" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/> |
| <general name="right_thumb_MCP_FE_ctrl" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" biasprm="0 -300 0.9"/> |
| <general name="right_thumb_MCP_AA_ctrl" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/> |
| <general name="right_thumb_IP_ctrl" joint="right_thumb_IP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/> |
| <general name="right_index_MCP_FE_ctrl" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/> |
| <general name="right_index_MCP_AA_ctrl" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/> |
| <general name="right_index_PIP_ctrl" joint="right_index_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/> |
| <general name="right_index_DIP_ctrl" joint="right_index_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/> |
| <general name="right_middle_MCP_FE_ctrl" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/> |
| <general name="right_middle_MCP_AA_ctrl" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/> |
| <general name="right_middle_PIP_ctrl" joint="right_middle_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/> |
| <general name="right_middle_DIP_ctrl" joint="right_middle_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/> |
| <general name="right_ring_MCP_FE_ctrl" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/> |
| <general name="right_ring_MCP_AA_ctrl" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/> |
| <general name="right_ring_PIP_ctrl" joint="right_ring_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/> |
| <general name="right_ring_DIP_ctrl" joint="right_ring_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/> |
| <general name="right_pinky_CMC_ctrl" joint="right_pinky_CMC" ctrlrange="0 0.2618" biasprm="0 -300 0.9"/> |
| <general name="right_pinky_MCP_FE_ctrl" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" biasprm="0 -300 0.9"/> |
| <general name="right_pinky_MCP_AA_ctrl" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" biasprm="0 -300 0.9"/> |
| <general name="right_pinky_PIP_ctrl" joint="right_pinky_PIP" ctrlrange="0 1.7453" biasprm="0 -300 0.9"/> |
| <general name="right_pinky_DIP_ctrl" joint="right_pinky_DIP" ctrlrange="0 1.3963" biasprm="0 -300 0.9"/> |
| </actuator> |
| </mujoco> |
|
|
