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xet
 Community
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jc-bao commited on
Commit
7749d74
·
1 Parent(s): 44128e5

:zap: update xhand mesh

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Files changed (10) hide show
  1. processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz +1 -1
  2. processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4 +2 -2
  3. processed/oakink/assets/robots/xhand/left.xml +18 -18
  4. processed/oakink/assets/robots/xhand/right.xml +20 -19
  5. processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz +1 -1
  6. processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz +1 -1
  7. processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz +2 -2
  8. processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4 +2 -2
  9. processed/oakink/xhand/bimanual/pick_spoon_bowl/scene.xml +33 -33
  10. processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_eq.xml +33 -33
processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz CHANGED
@@ -1,3 +1,3 @@
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  size 917414
 
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  size 917414
processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4 CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
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- oid sha256:0ae1075a32f89c6ebbd23db99de7655403180b7abb583361c47cec6bb7c6b3a2
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- size 1085057
 
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+ oid sha256:3dd701e2640455fc220e537e8f187b6f57a86dac701b6683f8293b012787f579
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+ size 2323412
processed/oakink/assets/robots/xhand/left.xml CHANGED
@@ -108,15 +108,15 @@
108
  <geom name="left_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0"
109
  group="1" density="0" rgba="0.384314 0.384314 0.384314 1"
110
  mesh="left_hand_thumb_rota_link2" />
111
- <geom name="collision_hand_left_thumb_0" type="capsule" size="0.008"
112
- fromto="0 0 0 0.045 0 0"
113
  rgba="0 1 0 1"
114
  group="3" />
115
  <geom size="0.001" pos="0.0504017 0 0" contype="0" conaffinity="0" group="1"
116
  density="0" rgba="0.698039 0.698039 0.698039 1" />
117
- <site name="left_thumb_tip" pos="0.0504017 0 0" />
118
- <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0" />
119
- <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0" />
120
  </body>
121
  </body>
122
  </body>
@@ -153,9 +153,9 @@
153
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
154
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
155
  density="0" rgba="0.698039 0.698039 0.698039 1" />
156
- <site name="left_index_tip" pos="0 0 -0.0425" />
157
- <site name="track_hand_left_index_tip" pos="0 0 -0.0425" />
158
- <site name="trace_hand_left_index_tip" pos="0 0 -0.0425" />
159
  </body>
160
  </body>
161
  </body>
@@ -182,9 +182,9 @@
182
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
183
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
184
  density="0" rgba="0.698039 0.698039 0.698039 1" />
185
- <site name="left_middle_tip" pos="0 0 -0.0425" />
186
- <site name="track_hand_left_middle_tip" pos="0 0 -0.0425" />
187
- <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425" />
188
  </body>
189
  </body>
190
  <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -210,9 +210,9 @@
210
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
211
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
212
  density="0" rgba="0.698039 0.698039 0.698039 1" />
213
- <site name="left_ring_tip" pos="0 0 -0.0425" />
214
- <site name="track_hand_left_ring_tip" pos="0 0 -0.0425" />
215
- <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425" />
216
  </body>
217
  </body>
218
  <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -238,9 +238,9 @@
238
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
239
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
240
  density="0" rgba="0.698039 0.698039 0.698039 1" />
241
- <site name="left_pinky_tip" pos="0 0 -0.0425" />
242
- <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425" />
243
- <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425" />
244
  </body>
245
  </body>
246
  </body>
@@ -282,4 +282,4 @@
282
  <position name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" />
283
  <position name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" />
284
  </actuator>
285
- </mujoco>
 
108
  <geom name="left_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0"
109
  group="1" density="0" rgba="0.384314 0.384314 0.384314 1"
110
  mesh="left_hand_thumb_rota_link2" />
111
+ <geom name="collision_hand_left_thumb_0" type="capsule" size="0.015"
112
+ fromto="0 0 0 0.04 0 0"
113
  rgba="0 1 0 1"
114
  group="3" />
115
  <geom size="0.001" pos="0.0504017 0 0" contype="0" conaffinity="0" group="1"
116
  density="0" rgba="0.698039 0.698039 0.698039 1" />
117
+ <site name="left_thumb_tip" pos="0.045 0 -0.015" />
118
+ <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015" />
119
+ <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015" />
120
  </body>
121
  </body>
122
  </body>
 
153
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
154
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
155
  density="0" rgba="0.698039 0.698039 0.698039 1" />
156
+ <site name="left_index_tip" pos="0 -0.005 -0.03" />
157
+ <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03" />
158
+ <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03" />
159
  </body>
160
  </body>
161
  </body>
 
182
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
183
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
184
  density="0" rgba="0.698039 0.698039 0.698039 1" />
185
+ <site name="left_middle_tip" pos="0 -0.005 -0.03" />
186
+ <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03" />
187
+ <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03" />
188
  </body>
189
  </body>
190
  <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
 
210
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
211
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
212
  density="0" rgba="0.698039 0.698039 0.698039 1" />
213
+ <site name="left_ring_tip" pos="0 -0.005 -0.03" />
214
+ <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03" />
215
+ <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03" />
216
  </body>
217
  </body>
218
  <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
 
238
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
239
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
240
  density="0" rgba="0.698039 0.698039 0.698039 1" />
241
+ <site name="left_pinky_tip" pos="0 -0.005 -0.03" />
242
+ <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03" />
243
+ <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03" />
244
  </body>
245
  </body>
246
  </body>
 
282
  <position name="left_pinky_joint1_position" joint="left_hand_pinky_joint1" />
283
  <position name="left_pinky_joint2_position" joint="left_hand_pinky_joint2" />
284
  </actuator>
285
+ </mujoco>
processed/oakink/assets/robots/xhand/right.xml CHANGED
@@ -11,7 +11,7 @@
11
  </default>
12
 
13
  <asset>
14
- <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
15
  height="3072" />
16
  <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
17
  rgb2="0.1 0.2 0.3"
@@ -101,15 +101,16 @@
101
  <geom name="right_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0"
102
  group="1" density="0" rgba="0.792157 0.819608 0.933333 1"
103
  mesh="right_hand_thumb_rota_link2" />
104
- <geom name="collision_hand_right_thumb_0" type="capsule" size="0.008"
105
- fromto="0 0 0 0.045 0 0"
106
  rgba="0 1 0 1"
107
  group="3" />
 
108
  <geom size="0.001" pos="0.0504025 0 0" contype="0" conaffinity="0" group="1"
109
  density="0" rgba="0.698039 0.698039 0.698039 1" />
110
- <site name="right_thumb_tip" pos="0.0504025 0 0" />
111
- <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0" />
112
- <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0" />
113
  </body>
114
  </body>
115
  </body>
@@ -145,9 +146,9 @@
145
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
146
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
147
  density="0" rgba="0.698039 0.698039 0.698039 1" />
148
- <site name="right_index_tip" pos="0 0 -0.0425" />
149
- <site name="track_hand_right_index_tip" pos="0 0 -0.0425" />
150
- <site name="trace_hand_right_index_tip" pos="0 0 -0.0425" />
151
  </body>
152
  </body>
153
  </body>
@@ -174,9 +175,9 @@
174
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
175
  <geom size="0.001" pos="0 0 -0.042107" contype="0" conaffinity="0" group="1"
176
  density="0" rgba="0.698039 0.698039 0.698039 1" />
177
- <site name="right_middle_tip" pos="0 0 -0.042107" />
178
- <site name="track_hand_right_middle_tip" pos="0 0 -0.042107" />
179
- <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107" />
180
  </body>
181
  </body>
182
  <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -202,9 +203,9 @@
202
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
203
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
204
  density="0" rgba="0.698039 0.698039 0.698039 1" />
205
- <site name="right_ring_tip" pos="0 0 -0.0425" />
206
- <site name="track_hand_right_ring_tip" pos="0 0 -0.0425" />
207
- <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425" />
208
  </body>
209
  </body>
210
  <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -230,9 +231,9 @@
230
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
231
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
232
  density="0" rgba="0.698039 0.698039 0.698039 1" />
233
- <site name="right_pinky_tip" pos="0 0 -0.0425" />
234
- <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425" />
235
- <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425" />
236
  </body>
237
  </body>
238
  </body>
@@ -274,4 +275,4 @@
274
  <position name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" />
275
  <position name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" />
276
  </actuator>
277
- </mujoco>
 
11
  </default>
12
 
13
  <asset>
14
+ <texture type="skybox" builtin="gradient" rgb1="1.0 1.0 1.0" rgb2="1.0 1.0 1.0" width="512"
15
  height="3072" />
16
  <texture type="2d" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
17
  rgb2="0.1 0.2 0.3"
 
101
  <geom name="right_thumb_rota2_visual" type="mesh" contype="0" conaffinity="0"
102
  group="1" density="0" rgba="0.792157 0.819608 0.933333 1"
103
  mesh="right_hand_thumb_rota_link2" />
104
+ <geom name="collision_hand_right_thumb_0" type="capsule" size="0.015"
105
+ fromto="0 0 0 0.04 0 0"
106
  rgba="0 1 0 1"
107
  group="3" />
108
+
109
  <geom size="0.001" pos="0.0504025 0 0" contype="0" conaffinity="0" group="1"
110
  density="0" rgba="0.698039 0.698039 0.698039 1" />
111
+ <site name="right_thumb_tip" pos="0.045 0 -0.015" />
112
+ <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015" />
113
+ <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015" />
114
  </body>
115
  </body>
116
  </body>
 
146
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
147
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
148
  density="0" rgba="0.698039 0.698039 0.698039 1" />
149
+ <site name="right_index_tip" pos="0 0.005 -0.03" />
150
+ <site name="track_hand_right_index_tip" pos="0 0.005 -0.03" />
151
+ <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03" />
152
  </body>
153
  </body>
154
  </body>
 
175
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
176
  <geom size="0.001" pos="0 0 -0.042107" contype="0" conaffinity="0" group="1"
177
  density="0" rgba="0.698039 0.698039 0.698039 1" />
178
+ <site name="right_middle_tip" pos="0 0.005 -0.03" />
179
+ <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03" />
180
+ <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03" />
181
  </body>
182
  </body>
183
  <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
 
203
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
204
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
205
  density="0" rgba="0.698039 0.698039 0.698039 1" />
206
+ <site name="right_ring_tip" pos="0 0.005 -0.03" />
207
+ <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03" />
208
+ <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03" />
209
  </body>
210
  </body>
211
  <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
 
231
  fromto="0 0 0 0 0 -0.03" rgba="0 1 0 1" group="3" />
232
  <geom size="0.001" pos="0 0 -0.0425" contype="0" conaffinity="0" group="1"
233
  density="0" rgba="0.698039 0.698039 0.698039 1" />
234
+ <site name="right_pinky_tip" pos="0 0.005 -0.03" />
235
+ <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03" />
236
+ <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03" />
237
  </body>
238
  </body>
239
  </body>
 
275
  <position name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" />
276
  <position name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" />
277
  </actuator>
278
+ </mujoco>
processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_ikrollout.npz CHANGED
@@ -1,3 +1,3 @@
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processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz CHANGED
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processed/oakink/xhand/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz CHANGED
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processed/oakink/xhand/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4 CHANGED
@@ -1,3 +1,3 @@
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- size 440946
 
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processed/oakink/xhand/bimanual/pick_spoon_bowl/scene.xml CHANGED
@@ -9,7 +9,7 @@
9
  </default>
10
 
11
  <asset>
12
- <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
13
  <texture type="2d" colorspace="auto" name="right_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"/>
14
  <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
15
  <texture type="2d" colorspace="auto" 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"/>
@@ -107,11 +107,11 @@
107
  <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
108
  <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
109
  <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
110
- <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
111
  <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
112
- <site name="right_thumb_tip" pos="0.0504025 0 0"/>
113
- <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
114
- <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
115
  </body>
116
  </body>
117
  </body>
@@ -130,9 +130,9 @@
130
  <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
131
  <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
132
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
133
- <site name="right_index_tip" pos="0 0 -0.0425"/>
134
- <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
135
- <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
136
  </body>
137
  </body>
138
  </body>
@@ -147,9 +147,9 @@
147
  <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
148
  <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
149
  <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
150
- <site name="right_middle_tip" pos="0 0 -0.042107"/>
151
- <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
152
- <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
153
  </body>
154
  </body>
155
  <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -163,9 +163,9 @@
163
  <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
164
  <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
165
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
166
- <site name="right_ring_tip" pos="0 0 -0.0425"/>
167
- <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
168
- <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
169
  </body>
170
  </body>
171
  <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -179,9 +179,9 @@
179
  <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
180
  <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
181
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
182
- <site name="right_pinky_tip" pos="0 0 -0.0425"/>
183
- <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
184
- <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
185
  </body>
186
  </body>
187
  </body>
@@ -226,11 +226,11 @@
226
  <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"/>
227
  <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
228
  <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
229
- <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
230
  <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
231
- <site name="left_thumb_tip" pos="0.0504017 0 0"/>
232
- <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
233
- <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
234
  </body>
235
  </body>
236
  </body>
@@ -249,9 +249,9 @@
249
  <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
250
  <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
251
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
252
- <site name="left_index_tip" pos="0 0 -0.0425"/>
253
- <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
254
- <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
255
  </body>
256
  </body>
257
  </body>
@@ -266,9 +266,9 @@
266
  <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
267
  <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
268
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
269
- <site name="left_middle_tip" pos="0 0 -0.0425"/>
270
- <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
271
- <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
272
  </body>
273
  </body>
274
  <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -282,9 +282,9 @@
282
  <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
283
  <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
284
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
285
- <site name="left_ring_tip" pos="0 0 -0.0425"/>
286
- <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
287
- <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
288
  </body>
289
  </body>
290
  <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -298,9 +298,9 @@
298
  <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
299
  <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
300
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
301
- <site name="left_pinky_tip" pos="0 0 -0.0425"/>
302
- <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
303
- <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
304
  </body>
305
  </body>
306
  </body>
 
9
  </default>
10
 
11
  <asset>
12
+ <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
13
  <texture type="2d" colorspace="auto" name="right_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"/>
14
  <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
15
  <texture type="2d" colorspace="auto" 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"/>
 
107
  <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
108
  <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
109
  <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
110
+ <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
111
  <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
112
+ <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
113
+ <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
114
+ <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
115
  </body>
116
  </body>
117
  </body>
 
130
  <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
131
  <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
132
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
133
+ <site name="right_index_tip" pos="0 0.005 -0.03"/>
134
+ <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
135
+ <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
136
  </body>
137
  </body>
138
  </body>
 
147
  <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
148
  <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
149
  <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
150
+ <site name="right_middle_tip" pos="0 0.005 -0.03"/>
151
+ <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
152
+ <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
153
  </body>
154
  </body>
155
  <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
 
163
  <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
164
  <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
165
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
166
+ <site name="right_ring_tip" pos="0 0.005 -0.03"/>
167
+ <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
168
+ <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
169
  </body>
170
  </body>
171
  <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
 
179
  <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
180
  <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
181
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
182
+ <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
183
+ <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
184
+ <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
185
  </body>
186
  </body>
187
  </body>
 
226
  <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"/>
227
  <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
228
  <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
229
+ <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
230
  <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
231
+ <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
232
+ <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
233
+ <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
234
  </body>
235
  </body>
236
  </body>
 
249
  <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
250
  <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
251
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
252
+ <site name="left_index_tip" pos="0 -0.005 -0.03"/>
253
+ <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
254
+ <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
255
  </body>
256
  </body>
257
  </body>
 
266
  <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
267
  <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
268
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
269
+ <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
270
+ <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
271
+ <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
272
  </body>
273
  </body>
274
  <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
 
282
  <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
283
  <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
284
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
285
+ <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
286
+ <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
287
+ <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
288
  </body>
289
  </body>
290
  <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
 
298
  <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
299
  <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
300
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
301
+ <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
302
+ <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
303
+ <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
304
  </body>
305
  </body>
306
  </body>
processed/oakink/xhand/bimanual/pick_spoon_bowl/scene_eq.xml CHANGED
@@ -9,7 +9,7 @@
9
  </default>
10
 
11
  <asset>
12
- <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
13
  <texture type="2d" colorspace="auto" name="right_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"/>
14
  <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
15
  <texture type="2d" colorspace="auto" 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"/>
@@ -107,11 +107,11 @@
107
  <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
108
  <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
109
  <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
110
- <geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
111
  <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
112
- <site name="right_thumb_tip" pos="0.0504025 0 0"/>
113
- <site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
114
- <site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
115
  </body>
116
  </body>
117
  </body>
@@ -130,9 +130,9 @@
130
  <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
131
  <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
132
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
133
- <site name="right_index_tip" pos="0 0 -0.0425"/>
134
- <site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
135
- <site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
136
  </body>
137
  </body>
138
  </body>
@@ -147,9 +147,9 @@
147
  <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
148
  <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
149
  <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
150
- <site name="right_middle_tip" pos="0 0 -0.042107"/>
151
- <site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
152
- <site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
153
  </body>
154
  </body>
155
  <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
@@ -163,9 +163,9 @@
163
  <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
164
  <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
165
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
166
- <site name="right_ring_tip" pos="0 0 -0.0425"/>
167
- <site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
168
- <site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
169
  </body>
170
  </body>
171
  <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
@@ -179,9 +179,9 @@
179
  <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
180
  <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
181
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
182
- <site name="right_pinky_tip" pos="0 0 -0.0425"/>
183
- <site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
184
- <site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
185
  </body>
186
  </body>
187
  </body>
@@ -226,11 +226,11 @@
226
  <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"/>
227
  <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
228
  <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
229
- <geom name="collision_hand_left_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
230
  <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
231
- <site name="left_thumb_tip" pos="0.0504017 0 0"/>
232
- <site name="track_hand_left_thumb_tip" pos="0.0504017 0 0"/>
233
- <site name="trace_hand_left_thumb_tip" pos="0.0504017 0 0"/>
234
  </body>
235
  </body>
236
  </body>
@@ -249,9 +249,9 @@
249
  <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
250
  <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
251
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
252
- <site name="left_index_tip" pos="0 0 -0.0425"/>
253
- <site name="track_hand_left_index_tip" pos="0 0 -0.0425"/>
254
- <site name="trace_hand_left_index_tip" pos="0 0 -0.0425"/>
255
  </body>
256
  </body>
257
  </body>
@@ -266,9 +266,9 @@
266
  <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
267
  <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
268
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
269
- <site name="left_middle_tip" pos="0 0 -0.0425"/>
270
- <site name="track_hand_left_middle_tip" pos="0 0 -0.0425"/>
271
- <site name="trace_hand_left_middle_tip" pos="0 0 -0.0425"/>
272
  </body>
273
  </body>
274
  <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
@@ -282,9 +282,9 @@
282
  <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
283
  <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
284
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
285
- <site name="left_ring_tip" pos="0 0 -0.0425"/>
286
- <site name="track_hand_left_ring_tip" pos="0 0 -0.0425"/>
287
- <site name="trace_hand_left_ring_tip" pos="0 0 -0.0425"/>
288
  </body>
289
  </body>
290
  <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
@@ -298,9 +298,9 @@
298
  <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
299
  <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
300
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
301
- <site name="left_pinky_tip" pos="0 0 -0.0425"/>
302
- <site name="track_hand_left_pinky_tip" pos="0 0 -0.0425"/>
303
- <site name="trace_hand_left_pinky_tip" pos="0 0 -0.0425"/>
304
  </body>
305
  </body>
306
  </body>
 
9
  </default>
10
 
11
  <asset>
12
+ <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
13
  <texture type="2d" colorspace="auto" name="right_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"/>
14
  <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
15
  <texture type="2d" colorspace="auto" 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"/>
 
107
  <inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
108
  <joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
109
  <geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
110
+ <geom name="collision_hand_right_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
111
  <geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
112
+ <site name="right_thumb_tip" pos="0.045 0 -0.015"/>
113
+ <site name="track_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
114
+ <site name="trace_hand_right_thumb_tip" pos="0.045 0 -0.015"/>
115
  </body>
116
  </body>
117
  </body>
 
130
  <geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
131
  <geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
132
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
133
+ <site name="right_index_tip" pos="0 0.005 -0.03"/>
134
+ <site name="track_hand_right_index_tip" pos="0 0.005 -0.03"/>
135
+ <site name="trace_hand_right_index_tip" pos="0 0.005 -0.03"/>
136
  </body>
137
  </body>
138
  </body>
 
147
  <geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
148
  <geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
149
  <geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
150
+ <site name="right_middle_tip" pos="0 0.005 -0.03"/>
151
+ <site name="track_hand_right_middle_tip" pos="0 0.005 -0.03"/>
152
+ <site name="trace_hand_right_middle_tip" pos="0 0.005 -0.03"/>
153
  </body>
154
  </body>
155
  <body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
 
163
  <geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
164
  <geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
165
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
166
+ <site name="right_ring_tip" pos="0 0.005 -0.03"/>
167
+ <site name="track_hand_right_ring_tip" pos="0 0.005 -0.03"/>
168
+ <site name="trace_hand_right_ring_tip" pos="0 0.005 -0.03"/>
169
  </body>
170
  </body>
171
  <body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
 
179
  <geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
180
  <geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
181
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
182
+ <site name="right_pinky_tip" pos="0 0.005 -0.03"/>
183
+ <site name="track_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
184
+ <site name="trace_hand_right_pinky_tip" pos="0 0.005 -0.03"/>
185
  </body>
186
  </body>
187
  </body>
 
226
  <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"/>
227
  <joint name="left_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.17 1.83"/>
228
  <geom name="left_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.384314 0.384314 0.384314 1" mesh="left_hand_thumb_rota_link2"/>
229
+ <geom name="collision_hand_left_thumb_0" size="0.015 0.02" pos="0.02 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
230
  <geom size="0.001" pos="0.0504017 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
231
+ <site name="left_thumb_tip" pos="0.045 0 -0.015"/>
232
+ <site name="track_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
233
+ <site name="trace_hand_left_thumb_tip" pos="0.045 0 -0.015"/>
234
  </body>
235
  </body>
236
  </body>
 
249
  <geom name="left_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_index_rota_link2"/>
250
  <geom name="collision_hand_left_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
251
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
252
+ <site name="left_index_tip" pos="0 -0.005 -0.03"/>
253
+ <site name="track_hand_left_index_tip" pos="0 -0.005 -0.03"/>
254
+ <site name="trace_hand_left_index_tip" pos="0 -0.005 -0.03"/>
255
  </body>
256
  </body>
257
  </body>
 
266
  <geom name="left_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_mid_link2"/>
267
  <geom name="collision_hand_left_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
268
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
269
+ <site name="left_middle_tip" pos="0 -0.005 -0.03"/>
270
+ <site name="track_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
271
+ <site name="trace_hand_left_middle_tip" pos="0 -0.005 -0.03"/>
272
  </body>
273
  </body>
274
  <body name="left_hand_ring_link1" pos="-0.016 -0.0065 -0.1052">
 
282
  <geom name="left_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_ring_link2"/>
283
  <geom name="collision_hand_left_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
284
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
285
+ <site name="left_ring_tip" pos="0 -0.005 -0.03"/>
286
+ <site name="track_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
287
+ <site name="trace_hand_left_ring_tip" pos="0 -0.005 -0.03"/>
288
  </body>
289
  </body>
290
  <body name="left_hand_pinky_link1" pos="-0.036 -0.0065 -0.1022">
 
298
  <geom name="left_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="left_hand_pinky_link2"/>
299
  <geom name="collision_hand_left_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
300
  <geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
301
+ <site name="left_pinky_tip" pos="0 -0.005 -0.03"/>
302
+ <site name="track_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
303
+ <site name="trace_hand_left_pinky_tip" pos="0 -0.005 -0.03"/>
304
  </body>
305
  </body>
306
  </body>