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retarget_example

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jc-bao commited on
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1 Parent(s): 887fd3e

:tada: pour water example

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Files changed (50) hide show
  1. processed/fair_fre/assets/objects/bulb/visual.obj +1 -1
  2. processed/fair_mon/assets/robots/metahand/left.xml +6 -7
  3. processed/fair_mon/assets/robots/metahand/right.xml +6 -7
  4. processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz +2 -2
  5. processed/fair_mon/mano/right/cat/task_info.json +1 -2
  6. processed/fair_mon/mano/right/coke/0/trajectory_kinematic.npz +2 -2
  7. processed/fair_mon/metahand/right/cat/0/trajectory_kinematic.npz +1 -1
  8. processed/fair_mon/metahand/right/cat/0/trajectory_mjwp.npz +1 -1
  9. processed/fair_mon/metahand/right/cat/0/visualization_mjwp.mp4 +2 -2
  10. processed/fair_mon/metahand/right/cat/scene.xml +327 -545
  11. processed/fair_mon/metahand/right/cat/scene_eq.xml +335 -561
  12. processed/fair_mon/metahand/right/coke/0/trajectory_kinematic.npz +1 -1
  13. processed/fair_mon/metahand/right/coke/0/trajectory_mjwp.npz +1 -1
  14. processed/fair_mon/metahand/right/coke/0/visualization_mjwp.mp4 +2 -2
  15. processed/fair_mon/metahand/right/coke/scene.xml +11 -11
  16. processed/fair_mon/metahand/right/coke/scene_eq.xml +11 -11
  17. processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_kinematic.npz +1 -1
  18. processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz +2 -2
  19. processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4 +2 -2
  20. processed/gigahand/allegro/bimanual/p36-tea/scene.xml +12 -12
  21. processed/gigahand/allegro/bimanual/p36-tea/scene_eq.xml +0 -0
  22. processed/gigahand/allegro/bimanual/p36-tea/task_info.json +1 -0
  23. processed/gigahand/allegro/bimanual/p52-instrument/34/trajectory_mjwp.npz +1 -1
  24. processed/gigahand/allegro/bimanual/p52-instrument/34/visualization_mjwp.mp4 +2 -2
  25. processed/gigahand/assets/objects/p36-tea/convex/0.obj +32 -32
  26. processed/gigahand/assets/objects/p36-tea/convex/1.obj +32 -32
  27. processed/gigahand/assets/objects/p36-tea/convex/2.obj +32 -32
  28. processed/gigahand/assets/objects/p36-tea/convex/3.obj +85 -85
  29. processed/gigahand/assets/objects/p36-tea/convex/4.obj +86 -86
  30. processed/gigahand/assets/objects/p36-tea/convex/5.obj +85 -85
  31. processed/gigahand/assets/objects/p36-tea/convex/6.obj +83 -83
  32. processed/gigahand/assets/objects/p36-tea/convex/7.obj +84 -84
  33. processed/gigahand/assets/objects/p36-tea/visual.obj +0 -0
  34. processed/gigahand/assets/robots/allegro/MUJOCO_LOG.TXT +3 -0
  35. processed/gigahand/assets/robots/allegro/left.xml +2 -2
  36. processed/gigahand/assets/robots/allegro/right.xml +2 -2
  37. processed/gigahand/mano/bimanual/p36-tea/10/trajectory_kinematic.npz +1 -1
  38. processed/gigahand/mano/bimanual/p36-tea/task_info.json +1 -0
  39. processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_kinematic.npz +2 -2
  40. processed/oakink/allegro/bimanual/pick_spoon_bowl/0/trajectory_mjwp.npz +2 -2
  41. processed/oakink/allegro/bimanual/pick_spoon_bowl/0/visualization_mjwp.mp4 +3 -0
  42. processed/oakink/allegro/bimanual/pour_tube/0/trajectory_kinematic.npz +2 -2
  43. processed/oakink/allegro/bimanual/pour_tube/0/trajectory_mjwp.npz +3 -0
  44. processed/oakink/allegro/bimanual/pour_tube/0/visualization_mjwp.mp4 +3 -0
  45. processed/oakink/allegro/bimanual/wipe_board/0/trajectory_kinematic.npz +1 -1
  46. processed/oakink/assets/objects/O02@0011@00003/convex/3.obj +80 -86
  47. processed/oakink/assets/objects/O02@0011@00003/convex/4.obj +78 -81
  48. processed/oakink/assets/objects/O02@0011@00003/convex/5.obj +85 -85
  49. processed/oakink/assets/objects/O02@0011@00003/convex/6.obj +87 -84
  50. processed/oakink/assets/objects/O02@0011@00003/convex/7.obj +85 -79
processed/fair_fre/assets/objects/bulb/visual.obj CHANGED
@@ -96084,7 +96084,7 @@ f 29822/1/29822 29987/1/29987 30148/1/30148 29967/6/29967 32092/4/32092
96084
  f 29967/1/29967 30148/1/30148 30049/1/30049 29846/6/29846 32093/4/32093
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  f 29921/1/29921 30167/1/30167 29951/1/29951 29825/6/29825 32094/4/32094
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  f 29824/1/29824 30002/1/30002 30166/1/30166 29969/6/29969 32096/4/32096
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- vt -557326501201051648.0000000 0.0000000
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  vt 0.0000000 0.0000000
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  f 29969/1/29969 30166/1/30166 30071/1/30071 29848/8/29848 32097/9/32097
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  # 31869 faces, 9 coords texture
 
96084
  f 29967/1/29967 30148/1/30148 30049/1/30049 29846/6/29846 32093/4/32093
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  f 29921/1/29921 30167/1/30167 29951/1/29951 29825/6/29825 32094/4/32094
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  f 29824/1/29824 30002/1/30002 30166/1/30166 29969/6/29969 32096/4/32096
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+ vt 52298432.0000000 0.0000000
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  vt 0.0000000 0.0000000
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  f 29969/1/29969 30166/1/30166 30071/1/30071 29848/8/29848 32097/9/32097
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  # 31869 faces, 9 coords texture
processed/fair_mon/assets/robots/metahand/left.xml CHANGED
@@ -11,11 +11,10 @@
11
  <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
12
  </default>
13
  <default class="metahand_left">
14
- <!-- <joint axis="0 1 0" armature="1.0" damping="0.0" /> -->
15
- <joint axis="0 1 0" damping="0.2" armature="0.00149376"
16
- actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" />
17
- <!-- <position kp="300" dampratio="1.0" /> -->
18
- <position kp="3.0" dampratio="0.0" />
19
  <geom density="800" />
20
 
21
  <default class="left_visual">
@@ -86,12 +85,12 @@
86
  <default class="left_base_slide">
87
  <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
88
  actuatorfrcrange="-1000.0 1000.0" />
89
- <position ctrlrange="-3.0 3.0" kp="300" dampratio="1.0" />
90
  </default>
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  <default class="left_base_hinge">
92
  <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
93
  actuatorfrcrange="-1000.0 1000.0" />
94
- <position ctrlrange="-6.28 6.28" kp="300" dampratio="1.0" />
95
  </default>
96
  <default class="left_base">
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  <joint axis="0 0 1" range="-0.47 0.47" />
 
11
  <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
12
  </default>
13
  <default class="metahand_left">
14
+ <joint axis="0 1 0" armature="1.0" damping="0.0" />
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+ <!-- <joint axis="0 1 0" damping="0.2" armature="0.00149376"
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+ actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" /> -->
17
+ <position kp="300" dampratio="1.0" />
 
18
  <geom density="800" />
19
 
20
  <default class="left_visual">
 
85
  <default class="left_base_slide">
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  <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
87
  actuatorfrcrange="-1000.0 1000.0" />
88
+ <position ctrlrange="-3.0 3.0" kp="1000" dampratio="1.0" />
89
  </default>
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  <default class="left_base_hinge">
91
  <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
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  actuatorfrcrange="-1000.0 1000.0" />
93
+ <position ctrlrange="-6.28 6.28" kp="1000" dampratio="1.0" />
94
  </default>
95
  <default class="left_base">
96
  <joint axis="0 0 1" range="-0.47 0.47" />
processed/fair_mon/assets/robots/metahand/right.xml CHANGED
@@ -11,11 +11,10 @@
11
  <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
12
  </default>
13
  <default class="metahand_right">
14
- <!-- <joint axis="0 1 0" armature="1.0" damping="0.0" /> -->
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- <joint axis="0 1 0" damping="0.2" armature="0.00149376"
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- actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" />
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- <!-- <position kp="300" dampratio="1.0" /> -->
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- <position kp="3.0" dampratio="0.0" />
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  <geom density="800" />
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21
  <default class="right_visual">
@@ -86,12 +85,12 @@
86
  <default class="right_base_slide">
87
  <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
88
  actuatorfrcrange="-1000.0 1000.0" />
89
- <position ctrlrange="-3.0 3.0" kp="300" dampratio="1.0" />
90
  </default>
91
  <default class="right_base_hinge">
92
  <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
93
  actuatorfrcrange="-1000.0 1000.0" />
94
- <position ctrlrange="-6.28 6.28" kp="300" dampratio="1.0" />
95
  </default>
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  <default class="right_base">
97
  <joint axis="0 0 1" range="-0.47 0.47" />
 
11
  <site size="0.015" type="sphere" rgba="1 0 0 1" group="3" />
12
  </default>
13
  <default class="metahand_right">
14
+ <joint axis="0 1 0" armature="1.0" damping="0.0" />
15
+ <!-- <joint axis="0 1 0" damping="0.2" armature="0.00149376"
16
+ actuatorfrcrange="-0.2196 0.2196" frictionloss="0.02" /> -->
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+ <position kp="300" dampratio="1.0" />
 
18
  <geom density="800" />
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20
  <default class="right_visual">
 
85
  <default class="right_base_slide">
86
  <joint type="slide" axis="0 1 0" range="-3.0 3.0" armature="1.0" damping="0.0"
87
  actuatorfrcrange="-1000.0 1000.0" />
88
+ <position ctrlrange="-3.0 3.0" kp="1000" dampratio="1.0" />
89
  </default>
90
  <default class="right_base_hinge">
91
  <joint axis="0 0 1" range="-6.28 6.28" armature="1.0" damping="0.0"
92
  actuatorfrcrange="-1000.0 1000.0" />
93
+ <position ctrlrange="-6.28 6.28" kp="1000" dampratio="1.0" />
94
  </default>
95
  <default class="right_base">
96
  <joint axis="0 0 1" range="-0.47 0.47" />
processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz CHANGED
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processed/fair_mon/mano/right/cat/task_info.json CHANGED
@@ -5,6 +5,5 @@
5
  "hand_type": "right",
6
  "data_id": 0,
7
  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
8
- "left_object_mesh_dir": null,
9
- "right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
10
  }
 
5
  "hand_type": "right",
6
  "data_id": 0,
7
  "right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
8
+ "left_object_mesh_dir": null
 
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processed/fair_mon/mano/right/coke/0/trajectory_kinematic.npz CHANGED
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processed/fair_mon/metahand/right/cat/0/trajectory_kinematic.npz CHANGED
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processed/fair_mon/metahand/right/cat/0/trajectory_mjwp.npz CHANGED
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processed/fair_mon/metahand/right/cat/0/visualization_mjwp.mp4 CHANGED
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processed/fair_mon/metahand/right/cat/scene.xml CHANGED
@@ -1,305 +1,273 @@
1
  <mujoco model="metahand_right">
2
- <compiler angle="radian" meshdir="../../../assets/" />
3
 
4
  <option timestep="0.01" iterations="10">
5
- <flag eulerdamp="disable" />
6
  </option>
7
 
8
  <visual>
9
- <global azimuth="140" elevation="-20" />
10
- <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
11
- <rgba haze="0.15 0.25 0.35 1" />
12
  </visual>
13
 
14
  <default>
15
  <default class="mimic_right">
16
- <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
17
  </default>
18
  <default class="metahand_right">
19
- <joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2"
20
- frictionloss="0.02" />
21
- <geom density="800" />
22
- <general biastype="affine" gainprm="3" biasprm="0 -3" />
23
  <default class="right_visual">
24
- <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
25
  <default class="right_palm_visual">
26
- <geom mesh="right_base_link" />
27
  </default>
28
  <default class="right_base_visual">
29
- <geom mesh="right_link_0.0" />
30
  </default>
31
  <default class="right_proximal_visual">
32
- <geom mesh="right_link_1.0" />
33
  </default>
34
  <default class="right_medial_visual">
35
- <geom mesh="right_link_2.0" />
36
  </default>
37
  <default class="right_distal_visual">
38
- <geom mesh="right_link_3.0" />
39
  </default>
40
  <default class="right_fingertip_visual">
41
- <geom material="right_white" mesh="right_link_3.0_tip" />
42
  </default>
43
  <default class="right_thumbtip_visual">
44
- <geom material="right_white" mesh="right_link_15.0_tip" />
45
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46
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  <default class="right_collision">
48
- <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
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  <default class="right_palm_collision">
50
- <geom size="0.0204 0.0565 0.0475" />
51
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53
- <geom size="0.0098 0.01375 0.0082" />
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  <default class="right_thumb_base_collision">
55
- <geom size="0.0179 0.017 0.02275" />
56
  </default>
57
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  <default class="right_proximal_collision">
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- <geom size="0.0098 0.01375 0.027" />
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  <default class="right_thumb_proximal_collision">
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- <geom size="0.0098 0.01375 0.00885" />
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  <default class="right_medial_collision">
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- <geom size="0.0098 0.01375 0.0192" />
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  <default class="right_thumb_medial_collision">
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- <geom size="0.0098 0.01375 0.0257" />
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  <default class="right_distal_collision">
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  <default class="right_thumb_distal_collision">
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- <geom size="0.0098 0.01375 0.0157" />
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  <default class="right_fingertip_collision">
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- <geom size="0.01235 0 0" type="capsule" />
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- <default class="right_thumbtip_collision" />
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  <default class="right_base_slide">
82
- <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0" />
83
- <general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1" />
84
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  <default class="right_base_hinge">
86
- <joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0" />
87
- <general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1" />
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  <default class="right_base">
90
- <joint range="-0.47 0.47" />
91
- <general ctrlrange="-0.47 0.47" />
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  <default class="right_proximal">
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- <joint range="0.196 1.61" />
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- <general ctrlrange="0.196 1.61" />
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  <default class="right_medial">
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- <joint range="0.174 1.709" />
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- <general ctrlrange="0.174 1.709" />
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  </default>
101
  <default class="right_distal">
102
- <joint range="0.227 1.618" />
103
- <general ctrlrange="0.227 1.618" />
104
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105
  <default class="right_thumb_base">
106
- <joint range="0.263 1.396" />
107
- <general ctrlrange="0.263 1.396" />
108
  </default>
109
  <default class="right_thumb_proximal">
110
- <joint range="0.105 1.163" />
111
- <general ctrlrange="0.105 1.163" />
112
  </default>
113
  <default class="right_thumb_medial">
114
- <joint range="0.189 1.644" />
115
- <general ctrlrange="0.189 1.644" />
116
  </default>
117
  <default class="right_thumb_distal">
118
- <joint range="0.162 1.719" />
119
- <general ctrlrange="0.162 1.719" />
120
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121
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122
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123
 
124
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125
- <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
126
- width="512" height="3072" />
127
- <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge"
128
- 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" />
129
- <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7"
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- rgb2="0 0 0" width="512" height="3072" />
131
- <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
132
- 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" />
133
- <material name="right_black" rgba="0.2 0.2 0.2 1" />
134
- <material name="right_white" rgba="0.9 0.9 0.9 1" />
135
- <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
136
- reflectance="0.2" />
137
- <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
138
- <mesh name="right_base_link" file="robots/metahand/assets/base_link.stl" />
139
- <mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl" />
140
- <mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl" />
141
- <mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl" />
142
- <mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl" />
143
- <mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl" />
144
- <mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl" />
145
- <mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl" />
146
- <mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl" />
147
- <mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl" />
148
- <mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl" />
149
- <mesh name="right_0" file="objects/cat/convex/0.obj" />
150
- <mesh name="right_1" file="objects/cat/convex/1.obj" />
151
- <mesh name="right_2" file="objects/cat/convex/2.obj" />
152
- <mesh name="right_3" file="objects/cat/convex/3.obj" />
153
- <mesh name="right_4" file="objects/cat/convex/4.obj" />
154
- <mesh name="right_5" file="objects/cat/convex/5.obj" />
155
- <mesh name="right_6" file="objects/cat/convex/6.obj" />
156
- <mesh name="right_7" file="objects/cat/convex/7.obj" />
157
- <mesh name="right_visual" file="objects/cat/visual.obj" />
158
  </asset>
159
 
160
  <worldbody>
161
- <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
162
- <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
163
- mode="trackcom" />
164
- <light pos="0 0 3.5" dir="0 0 -1" />
165
  <body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
166
- <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0" />
167
- <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0" />
168
- <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1" />
169
- <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0" />
170
- <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0" />
171
- <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1" />
172
- <geom class="right_palm_visual" mesh="right_base_link" />
173
- <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475"
174
- mass="0" />
175
- <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
176
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
177
- <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
178
- <geom class="right_base_visual" mesh="right_link_0.0" />
179
- <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082"
180
- mass="0" />
181
  <body name="right_ff_proximal" pos="0 0 0.0164">
182
- <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
183
- <geom class="right_proximal_visual" mesh="right_link_1.0" />
184
- <geom name="right_index_proximal_collision" class="right_proximal_collision"
185
- pos="0 0 0.027" mass="0" />
186
  <body name="right_ff_medial" pos="0 0 0.054">
187
- <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
188
- <geom class="right_medial_visual" mesh="right_link_2.0" />
189
- <geom name="right_index_intermediate_collision" class="right_medial_collision"
190
- pos="0 0 0.0192" mass="0" />
191
  <body name="right_ff_distal" pos="0 0 0.0384">
192
- <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
193
- <geom class="right_distal_visual" mesh="right_link_3.0" />
194
- <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008"
195
- mass="0" />
196
  <body name="right_ff_tip">
197
- <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
198
- <geom name="right_index_collision" class="right_fingertip_collision"
199
- size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
200
- <site name="right_index_tip" class="mimic_right" pos="0 0 0.0515" />
201
- <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515" />
202
- <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515" />
203
  </body>
204
  </body>
205
  </body>
206
  </body>
207
  </body>
208
  <body name="right_mf_base" pos="0 0 0.0007">
209
- <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
210
- <geom class="right_base_visual" mesh="right_link_0.0" />
211
- <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082"
212
- mass="0" />
213
  <body name="right_mf_proximal" pos="0 0 0.0164">
214
- <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
215
- <geom class="right_proximal_visual" mesh="right_link_1.0" />
216
- <geom name="right_middle_proximal_collision" class="right_proximal_collision"
217
- pos="0 0 0.027" mass="0" />
218
  <body name="right_mf_medial" pos="0 0 0.054">
219
- <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
220
- <geom class="right_medial_visual" mesh="right_link_2.0" />
221
- <geom name="right_middle_intermediate_collision" class="right_medial_collision"
222
- pos="0 0 0.0192" mass="0" />
223
  <body name="right_mf_distal" pos="0 0 0.0384">
224
- <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
225
- <geom class="right_distal_visual" mesh="right_link_3.0" />
226
- <geom name="right_middle_distal_collision" class="right_distal_collision"
227
- pos="0 0 0.008" mass="0" />
228
  <body name="right_mf_tip">
229
- <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
230
- <geom name="right_middle_collision" class="right_fingertip_collision"
231
- size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
232
- <site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
233
- <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
234
- <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
235
  </body>
236
  </body>
237
  </body>
238
  </body>
239
  </body>
240
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
241
- <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
242
- <geom class="right_base_visual" mesh="right_link_0.0" />
243
- <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082"
244
- mass="0" />
245
  <body name="right_rf_proximal" pos="0 0 0.0164">
246
- <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
247
- <geom class="right_proximal_visual" mesh="right_link_1.0" />
248
- <geom name="right_ring_proximal_collision" class="right_proximal_collision"
249
- pos="0 0 0.027" mass="0" />
250
  <body name="right_rf_medial" pos="0 0 0.054">
251
- <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
252
- <geom class="right_medial_visual" mesh="right_link_2.0" />
253
- <geom name="right_ring_intermediate_collision" class="right_medial_collision"
254
- pos="0 0 0.0192" mass="0" />
255
  <body name="right_rf_distal" pos="0 0 0.0384">
256
- <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
257
- <geom class="right_distal_visual" mesh="right_link_3.0" />
258
- <geom name="right_ring_distal_collision" class="right_distal_collision"
259
- pos="0 0 0.008" mass="0" />
260
  <body name="right_rf_tip">
261
- <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
262
- <geom name="right_ring_collision" class="right_fingertip_collision"
263
- size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
264
- <site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
265
- <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
266
- <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
267
  </body>
268
  </body>
269
  </body>
270
  </body>
271
  </body>
272
- <body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
273
- quat="0.477714 -0.521334 -0.521334 -0.477714">
274
- <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0" />
275
- <geom class="right_visual" mesh="right_link_12.0_right" />
276
- <geom name="right_thumb_base_collision" class="right_thumb_base_collision"
277
- pos="-0.0179 0.009 0.0145" mass="0" />
278
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
279
- <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0"
280
- axis="0 0 1" />
281
- <geom class="right_visual" mesh="right_link_13.0" />
282
- <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision"
283
- pos="0 0 0.00885" mass="0" />
284
  <body name="right_th_medial" pos="0 0 0.0177">
285
- <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0"
286
- axis="0 1 0" />
287
- <geom class="right_visual" mesh="right_link_14.0" />
288
- <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision"
289
- pos="0 0 0.0257" mass="0" />
290
  <body name="right_th_distal" pos="0 0 0.0514">
291
- <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0"
292
- axis="0 1 0" />
293
- <geom class="right_visual" mesh="right_link_15.0" />
294
- <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision"
295
- pos="0 0 0.0157" mass="0" />
296
  <body name="right_th_tip">
297
- <geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip" />
298
- <geom name="right_thumb_collision" class="right_thumbtip_collision"
299
- size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0" />
300
- <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
301
- <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
302
- <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
303
  </body>
304
  </body>
305
  </body>
@@ -307,382 +275,196 @@
307
  </body>
308
  </body>
309
  <body name="right_object">
310
- <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false"
311
- armature="0.0001" frictionloss="0.0001" />
312
- <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100"
313
- rgba="0 1 0 1" mesh="right_0" />
314
- <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100"
315
- rgba="0 1 0 1" mesh="right_1" />
316
- <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100"
317
- rgba="0 1 0 1" mesh="right_2" />
318
- <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100"
319
- rgba="0 1 0 1" mesh="right_3" />
320
- <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100"
321
- rgba="0 1 0 1" mesh="right_4" />
322
- <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100"
323
- rgba="0 1 0 1" mesh="right_5" />
324
- <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100"
325
- rgba="0 1 0 1" mesh="right_6" />
326
- <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100"
327
- rgba="0 1 0 1" mesh="right_7" />
328
- <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0"
329
- rgba="1 1 1 1" mesh="right_visual" />
330
- <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box"
331
- rgba="1 0 0 1" />
332
- <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
333
- <site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01"
334
- group="4" rgba="0 1 0 1" />
335
- <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01"
336
- group="4" rgba="0 1 0 1" />
337
- <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01"
338
- group="4" rgba="0 1 0 1" />
339
- <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0360651" size="0.01"
340
- group="4" rgba="0 1 0 1" />
341
  </body>
342
  <body name="ref_object_right_thumb_tip" mocap="true">
343
- <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
344
  </body>
345
  <body name="ref_hand_right_thumb_tip" mocap="true">
346
- <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
347
  </body>
348
  <body name="ref_object_right_index_tip" mocap="true">
349
- <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
350
  </body>
351
  <body name="ref_hand_right_index_tip" mocap="true">
352
- <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
353
  </body>
354
  <body name="ref_object_right_middle_tip" mocap="true">
355
- <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
356
  </body>
357
  <body name="ref_hand_right_middle_tip" mocap="true">
358
- <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
359
  </body>
360
  <body name="ref_object_right_ring_tip" mocap="true">
361
- <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
362
  </body>
363
  <body name="ref_hand_right_ring_tip" mocap="true">
364
- <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
365
  </body>
366
  </worldbody>
367
 
368
  <contact>
369
- <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008"
370
- friction="1 1 0.1 0 0" />
371
- <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008"
372
- friction="1 1 0.1 0 0" />
373
- <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008"
374
- friction="1 1 0.1 0 0" />
375
- <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008"
376
- friction="1 1 0.1 0 0" />
377
- <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008"
378
- friction="1 1 0.1 0 0" />
379
- <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008"
380
- friction="1 1 0.1 0 0" />
381
- <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008"
382
- friction="1 1 0.1 0 0" />
383
- <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008"
384
- friction="1 1 0.1 0 0" />
385
- <pair geom1="right_palm_collision" geom2="right_object_0"
386
- name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
387
- <pair geom1="right_palm_collision" geom2="right_object_1"
388
- name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
389
- <pair geom1="right_palm_collision" geom2="right_object_2"
390
- name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
391
- <pair geom1="right_palm_collision" geom2="right_object_3"
392
- name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
393
- <pair geom1="right_palm_collision" geom2="right_object_4"
394
- name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
395
- <pair geom1="right_palm_collision" geom2="right_object_5"
396
- name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
397
- <pair geom1="right_palm_collision" geom2="right_object_6"
398
- name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
399
- <pair geom1="right_palm_collision" geom2="right_object_7"
400
- name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
401
- <pair geom1="right_index_proximal_collision" geom2="right_object_0"
402
- name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008"
403
- friction="1 1 0.1 0 0" />
404
- <pair geom1="right_index_proximal_collision" geom2="right_object_1"
405
- name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008"
406
- friction="1 1 0.1 0 0" />
407
- <pair geom1="right_index_proximal_collision" geom2="right_object_2"
408
- name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008"
409
- friction="1 1 0.1 0 0" />
410
- <pair geom1="right_index_proximal_collision" geom2="right_object_3"
411
- name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008"
412
- friction="1 1 0.1 0 0" />
413
- <pair geom1="right_index_proximal_collision" geom2="right_object_4"
414
- name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008"
415
- friction="1 1 0.1 0 0" />
416
- <pair geom1="right_index_proximal_collision" geom2="right_object_5"
417
- name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008"
418
- friction="1 1 0.1 0 0" />
419
- <pair geom1="right_index_proximal_collision" geom2="right_object_6"
420
- name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008"
421
- friction="1 1 0.1 0 0" />
422
- <pair geom1="right_index_proximal_collision" geom2="right_object_7"
423
- name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008"
424
- friction="1 1 0.1 0 0" />
425
- <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision"
426
- name="right_thumb_collision_right_index_intermediate_collision" solref="0.008"
427
- friction="1 1 0.1 0 0" />
428
- <pair geom1="right_index_intermediate_collision" geom2="right_object_0"
429
- name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008"
430
- friction="1 1 0.1 0 0" />
431
- <pair geom1="right_index_intermediate_collision" geom2="right_object_1"
432
- name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008"
433
- friction="1 1 0.1 0 0" />
434
- <pair geom1="right_index_intermediate_collision" geom2="right_object_2"
435
- name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008"
436
- friction="1 1 0.1 0 0" />
437
- <pair geom1="right_index_intermediate_collision" geom2="right_object_3"
438
- name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008"
439
- friction="1 1 0.1 0 0" />
440
- <pair geom1="right_index_intermediate_collision" geom2="right_object_4"
441
- name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008"
442
- friction="1 1 0.1 0 0" />
443
- <pair geom1="right_index_intermediate_collision" geom2="right_object_5"
444
- name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008"
445
- friction="1 1 0.1 0 0" />
446
- <pair geom1="right_index_intermediate_collision" geom2="right_object_6"
447
- name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008"
448
- friction="1 1 0.1 0 0" />
449
- <pair geom1="right_index_intermediate_collision" geom2="right_object_7"
450
- name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008"
451
- friction="1 1 0.1 0 0" />
452
- <pair geom1="right_index_collision" geom2="right_thumb_collision"
453
- name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0" />
454
- <pair geom1="right_index_collision" geom2="right_object_0"
455
- name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
456
- <pair geom1="right_index_collision" geom2="right_object_1"
457
- name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
458
- <pair geom1="right_index_collision" geom2="right_object_2"
459
- name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
460
- <pair geom1="right_index_collision" geom2="right_object_3"
461
- name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
462
- <pair geom1="right_index_collision" geom2="right_object_4"
463
- name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
464
- <pair geom1="right_index_collision" geom2="right_object_5"
465
- name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
466
- <pair geom1="right_index_collision" geom2="right_object_6"
467
- name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
468
- <pair geom1="right_index_collision" geom2="right_object_7"
469
- name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
470
- <pair geom1="right_middle_proximal_collision" geom2="right_object_0"
471
- name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
472
- <pair geom1="right_middle_proximal_collision" geom2="right_object_1"
473
- name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
474
- <pair geom1="right_middle_proximal_collision" geom2="right_object_2"
475
- name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
476
- <pair geom1="right_middle_proximal_collision" geom2="right_object_3"
477
- name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
478
- <pair geom1="right_middle_proximal_collision" geom2="right_object_4"
479
- name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
480
- <pair geom1="right_middle_proximal_collision" geom2="right_object_5"
481
- name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
482
- <pair geom1="right_middle_proximal_collision" geom2="right_object_6"
483
- name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
484
- <pair geom1="right_middle_proximal_collision" geom2="right_object_7"
485
- name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
486
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_0"
487
- name="right_middle_intermediate_collision_right_object_0" solref="0.008"
488
- friction="1 1 0.1 0 0" />
489
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_1"
490
- name="right_middle_intermediate_collision_right_object_1" solref="0.008"
491
- friction="1 1 0.1 0 0" />
492
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_2"
493
- name="right_middle_intermediate_collision_right_object_2" solref="0.008"
494
- friction="1 1 0.1 0 0" />
495
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_3"
496
- name="right_middle_intermediate_collision_right_object_3" solref="0.008"
497
- friction="1 1 0.1 0 0" />
498
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_4"
499
- name="right_middle_intermediate_collision_right_object_4" solref="0.008"
500
- friction="1 1 0.1 0 0" />
501
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_5"
502
- name="right_middle_intermediate_collision_right_object_5" solref="0.008"
503
- friction="1 1 0.1 0 0" />
504
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_6"
505
- name="right_middle_intermediate_collision_right_object_6" solref="0.008"
506
- friction="1 1 0.1 0 0" />
507
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_7"
508
- name="right_middle_intermediate_collision_right_object_7" solref="0.008"
509
- friction="1 1 0.1 0 0" />
510
- <pair geom1="right_middle_collision" geom2="right_object_0"
511
- name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
512
- <pair geom1="right_middle_collision" geom2="right_object_1"
513
- name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
514
- <pair geom1="right_middle_collision" geom2="right_object_2"
515
- name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
516
- <pair geom1="right_middle_collision" geom2="right_object_3"
517
- name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
518
- <pair geom1="right_middle_collision" geom2="right_object_4"
519
- name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
520
- <pair geom1="right_middle_collision" geom2="right_object_5"
521
- name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
522
- <pair geom1="right_middle_collision" geom2="right_object_6"
523
- name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
524
- <pair geom1="right_middle_collision" geom2="right_object_7"
525
- name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
526
- <pair geom1="right_ring_proximal_collision" geom2="right_object_0"
527
- name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
528
- <pair geom1="right_ring_proximal_collision" geom2="right_object_1"
529
- name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
530
- <pair geom1="right_ring_proximal_collision" geom2="right_object_2"
531
- name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
532
- <pair geom1="right_ring_proximal_collision" geom2="right_object_3"
533
- name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
534
- <pair geom1="right_ring_proximal_collision" geom2="right_object_4"
535
- name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
536
- <pair geom1="right_ring_proximal_collision" geom2="right_object_5"
537
- name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
538
- <pair geom1="right_ring_proximal_collision" geom2="right_object_6"
539
- name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
540
- <pair geom1="right_ring_proximal_collision" geom2="right_object_7"
541
- name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
542
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_0"
543
- name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
544
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_1"
545
- name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
546
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_2"
547
- name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
548
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_3"
549
- name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
550
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_4"
551
- name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
552
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_5"
553
- name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
554
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_6"
555
- name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
556
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_7"
557
- name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
558
- <pair geom1="right_ring_collision" geom2="right_object_0"
559
- name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
560
- <pair geom1="right_ring_collision" geom2="right_object_1"
561
- name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
562
- <pair geom1="right_ring_collision" geom2="right_object_2"
563
- name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
564
- <pair geom1="right_ring_collision" geom2="right_object_3"
565
- name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
566
- <pair geom1="right_ring_collision" geom2="right_object_4"
567
- name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
568
- <pair geom1="right_ring_collision" geom2="right_object_5"
569
- name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
570
- <pair geom1="right_ring_collision" geom2="right_object_6"
571
- name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
572
- <pair geom1="right_ring_collision" geom2="right_object_7"
573
- name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
574
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_0"
575
- name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008"
576
- friction="1 1 0.1 0 0" />
577
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_1"
578
- name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008"
579
- friction="1 1 0.1 0 0" />
580
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_2"
581
- name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008"
582
- friction="1 1 0.1 0 0" />
583
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_3"
584
- name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008"
585
- friction="1 1 0.1 0 0" />
586
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_4"
587
- name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008"
588
- friction="1 1 0.1 0 0" />
589
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_5"
590
- name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008"
591
- friction="1 1 0.1 0 0" />
592
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_6"
593
- name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008"
594
- friction="1 1 0.1 0 0" />
595
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_7"
596
- name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008"
597
- friction="1 1 0.1 0 0" />
598
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_0"
599
- name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008"
600
- friction="1 1 0.1 0 0" />
601
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_1"
602
- name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008"
603
- friction="1 1 0.1 0 0" />
604
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_2"
605
- name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008"
606
- friction="1 1 0.1 0 0" />
607
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_3"
608
- name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008"
609
- friction="1 1 0.1 0 0" />
610
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_4"
611
- name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008"
612
- friction="1 1 0.1 0 0" />
613
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_5"
614
- name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008"
615
- friction="1 1 0.1 0 0" />
616
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_6"
617
- name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008"
618
- friction="1 1 0.1 0 0" />
619
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_7"
620
- name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008"
621
- friction="1 1 0.1 0 0" />
622
- <pair geom1="right_thumb_distal_collision" geom2="right_object_0"
623
- name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008"
624
- friction="1 1 0.1 0 0" />
625
- <pair geom1="right_thumb_distal_collision" geom2="right_object_1"
626
- name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008"
627
- friction="1 1 0.1 0 0" />
628
- <pair geom1="right_thumb_distal_collision" geom2="right_object_2"
629
- name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008"
630
- friction="1 1 0.1 0 0" />
631
- <pair geom1="right_thumb_distal_collision" geom2="right_object_3"
632
- name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008"
633
- friction="1 1 0.1 0 0" />
634
- <pair geom1="right_thumb_distal_collision" geom2="right_object_4"
635
- name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008"
636
- friction="1 1 0.1 0 0" />
637
- <pair geom1="right_thumb_distal_collision" geom2="right_object_5"
638
- name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008"
639
- friction="1 1 0.1 0 0" />
640
- <pair geom1="right_thumb_distal_collision" geom2="right_object_6"
641
- name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008"
642
- friction="1 1 0.1 0 0" />
643
- <pair geom1="right_thumb_distal_collision" geom2="right_object_7"
644
- name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008"
645
- friction="1 1 0.1 0 0" />
646
- <pair geom1="right_thumb_collision" geom2="right_object_0"
647
- name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
648
- <pair geom1="right_thumb_collision" geom2="right_object_1"
649
- name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
650
- <pair geom1="right_thumb_collision" geom2="right_object_2"
651
- name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
652
- <pair geom1="right_thumb_collision" geom2="right_object_3"
653
- name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
654
- <pair geom1="right_thumb_collision" geom2="right_object_4"
655
- name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
656
- <pair geom1="right_thumb_collision" geom2="right_object_5"
657
- name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
658
- <pair geom1="right_thumb_collision" geom2="right_object_6"
659
- name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
660
- <pair geom1="right_thumb_collision" geom2="right_object_7"
661
- name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
662
  </contact>
663
 
664
  <actuator>
665
- <general name="right_pos_x" class="right_base_slide" joint="right_pos_x" />
666
- <general name="right_pos_y" class="right_base_slide" joint="right_pos_y" />
667
- <general name="right_pos_z" class="right_base_slide" joint="right_pos_z" />
668
- <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x" />
669
- <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y" />
670
- <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z" />
671
- <general name="right_ffa0" class="right_base" joint="right_index_base_joint" />
672
- <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint" />
673
- <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint" />
674
- <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint" />
675
- <general name="right_mfa0" class="right_base" joint="right_middle_base_joint" />
676
- <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint" />
677
- <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint" />
678
- <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint" />
679
- <general name="right_rfa0" class="right_base" joint="right_ring_base_joint" />
680
- <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint" />
681
- <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint" />
682
- <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint" />
683
- <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint" />
684
- <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint" />
685
- <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint" />
686
- <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint" />
687
  </actuator>
688
- </mujoco>
 
1
  <mujoco model="metahand_right">
2
+ <compiler angle="radian" meshdir="../../../assets/"/>
3
 
4
  <option timestep="0.01" iterations="10">
5
+ <flag eulerdamp="disable"/>
6
  </option>
7
 
8
  <visual>
9
+ <global azimuth="140" elevation="-20"/>
10
+ <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
11
+ <rgba haze="0.15 0.25 0.35 1"/>
12
  </visual>
13
 
14
  <default>
15
  <default class="mimic_right">
16
+ <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
17
  </default>
18
  <default class="metahand_right">
19
+ <joint armature="1"/>
20
+ <geom density="800"/>
21
+ <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
 
22
  <default class="right_visual">
23
+ <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
24
  <default class="right_palm_visual">
25
+ <geom mesh="right_base_link"/>
26
  </default>
27
  <default class="right_base_visual">
28
+ <geom mesh="right_link_0.0"/>
29
  </default>
30
  <default class="right_proximal_visual">
31
+ <geom mesh="right_link_1.0"/>
32
  </default>
33
  <default class="right_medial_visual">
34
+ <geom mesh="right_link_2.0"/>
35
  </default>
36
  <default class="right_distal_visual">
37
+ <geom mesh="right_link_3.0"/>
38
  </default>
39
  <default class="right_fingertip_visual">
40
+ <geom material="right_white" mesh="right_link_3.0_tip"/>
41
  </default>
42
  <default class="right_thumbtip_visual">
43
+ <geom material="right_white" mesh="right_link_15.0_tip"/>
44
  </default>
45
  </default>
46
  <default class="right_collision">
47
+ <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
48
  <default class="right_palm_collision">
49
+ <geom size="0.0204 0.0565 0.0475"/>
50
  </default>
51
  <default class="right_base_collision">
52
+ <geom size="0.0098 0.01375 0.0082"/>
53
  <default class="right_thumb_base_collision">
54
+ <geom size="0.0179 0.017 0.02275"/>
55
  </default>
56
  </default>
57
  <default class="right_proximal_collision">
58
+ <geom size="0.0098 0.01375 0.027"/>
59
  <default class="right_thumb_proximal_collision">
60
+ <geom size="0.0098 0.01375 0.00885"/>
61
  </default>
62
  </default>
63
  <default class="right_medial_collision">
64
+ <geom size="0.0098 0.01375 0.0192"/>
65
  <default class="right_thumb_medial_collision">
66
+ <geom size="0.0098 0.01375 0.0257"/>
67
  </default>
68
  </default>
69
  <default class="right_distal_collision">
70
+ <geom size="0.0098 0.01375 0.008"/>
71
  <default class="right_thumb_distal_collision">
72
+ <geom size="0.0098 0.01375 0.0157"/>
73
  </default>
74
  </default>
75
  <default class="right_fingertip_collision">
76
+ <geom size="0.01235 0 0" type="capsule"/>
77
+ <default class="right_thumbtip_collision"/>
78
  </default>
79
  </default>
80
  <default class="right_base_slide">
81
+ <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000"/>
82
+ <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
83
  </default>
84
  <default class="right_base_hinge">
85
+ <joint range="-6.28 6.28" actuatorfrcrange="-1000 1000"/>
86
+ <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
87
  </default>
88
  <default class="right_base">
89
+ <joint range="-0.47 0.47"/>
90
+ <general ctrlrange="-0.47 0.47"/>
91
  </default>
92
  <default class="right_proximal">
93
+ <joint range="0.196 1.61"/>
94
+ <general ctrlrange="0.196 1.61"/>
95
  </default>
96
  <default class="right_medial">
97
+ <joint range="0.174 1.709"/>
98
+ <general ctrlrange="0.174 1.709"/>
99
  </default>
100
  <default class="right_distal">
101
+ <joint range="0.227 1.618"/>
102
+ <general ctrlrange="0.227 1.618"/>
103
  </default>
104
  <default class="right_thumb_base">
105
+ <joint range="0.263 1.396"/>
106
+ <general ctrlrange="0.263 1.396"/>
107
  </default>
108
  <default class="right_thumb_proximal">
109
+ <joint range="0.105 1.163"/>
110
+ <general ctrlrange="0.105 1.163"/>
111
  </default>
112
  <default class="right_thumb_medial">
113
+ <joint range="0.189 1.644"/>
114
+ <general ctrlrange="0.189 1.644"/>
115
  </default>
116
  <default class="right_thumb_distal">
117
+ <joint range="0.162 1.719"/>
118
+ <general ctrlrange="0.162 1.719"/>
119
  </default>
120
  </default>
121
  </default>
122
 
123
  <asset>
124
+ <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
125
+ <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"/>
126
+ <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
127
+ <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"/>
128
+ <material name="right_black" rgba="0.2 0.2 0.2 1"/>
129
+ <material name="right_white" rgba="0.9 0.9 0.9 1"/>
130
+ <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
131
+ <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
132
+ <mesh name="right_base_link" file="robots/metahand/assets/base_link.stl"/>
133
+ <mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl"/>
134
+ <mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl"/>
135
+ <mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl"/>
136
+ <mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl"/>
137
+ <mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl"/>
138
+ <mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl"/>
139
+ <mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl"/>
140
+ <mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl"/>
141
+ <mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl"/>
142
+ <mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl"/>
143
+ <mesh name="right_0" file="objects/cat/convex/0.obj"/>
144
+ <mesh name="right_1" file="objects/cat/convex/1.obj"/>
145
+ <mesh name="right_2" file="objects/cat/convex/2.obj"/>
146
+ <mesh name="right_3" file="objects/cat/convex/3.obj"/>
147
+ <mesh name="right_4" file="objects/cat/convex/4.obj"/>
148
+ <mesh name="right_5" file="objects/cat/convex/5.obj"/>
149
+ <mesh name="right_6" file="objects/cat/convex/6.obj"/>
150
+ <mesh name="right_7" file="objects/cat/convex/7.obj"/>
151
+ <mesh name="right_visual" file="objects/cat/visual.obj"/>
 
 
 
 
 
152
  </asset>
153
 
154
  <worldbody>
155
+ <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
156
+ <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
157
+ <light pos="0 0 3.5" dir="0 0 -1"/>
 
158
  <body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
159
+ <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
160
+ <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
161
+ <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
162
+ <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
163
+ <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
164
+ <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
165
+ <geom class="right_palm_visual" mesh="right_base_link"/>
166
+ <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
167
+ <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
 
168
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
169
+ <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
170
+ <geom class="right_base_visual" mesh="right_link_0.0"/>
171
+ <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
 
172
  <body name="right_ff_proximal" pos="0 0 0.0164">
173
+ <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
174
+ <geom class="right_proximal_visual" mesh="right_link_1.0"/>
175
+ <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
 
176
  <body name="right_ff_medial" pos="0 0 0.054">
177
+ <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
178
+ <geom class="right_medial_visual" mesh="right_link_2.0"/>
179
+ <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
 
180
  <body name="right_ff_distal" pos="0 0 0.0384">
181
+ <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
182
+ <geom class="right_distal_visual" mesh="right_link_3.0"/>
183
+ <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
 
184
  <body name="right_ff_tip">
185
+ <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
186
+ <geom name="right_index_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
187
+ <site name="right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
188
+ <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
189
+ <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
 
190
  </body>
191
  </body>
192
  </body>
193
  </body>
194
  </body>
195
  <body name="right_mf_base" pos="0 0 0.0007">
196
+ <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
197
+ <geom class="right_base_visual" mesh="right_link_0.0"/>
198
+ <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
 
199
  <body name="right_mf_proximal" pos="0 0 0.0164">
200
+ <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
201
+ <geom class="right_proximal_visual" mesh="right_link_1.0"/>
202
+ <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
 
203
  <body name="right_mf_medial" pos="0 0 0.054">
204
+ <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
205
+ <geom class="right_medial_visual" mesh="right_link_2.0"/>
206
+ <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
 
207
  <body name="right_mf_distal" pos="0 0 0.0384">
208
+ <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
209
+ <geom class="right_distal_visual" mesh="right_link_3.0"/>
210
+ <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
 
211
  <body name="right_mf_tip">
212
+ <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
213
+ <geom name="right_middle_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
214
+ <site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
215
+ <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
216
+ <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
 
217
  </body>
218
  </body>
219
  </body>
220
  </body>
221
  </body>
222
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
223
+ <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
224
+ <geom class="right_base_visual" mesh="right_link_0.0"/>
225
+ <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
 
226
  <body name="right_rf_proximal" pos="0 0 0.0164">
227
+ <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
228
+ <geom class="right_proximal_visual" mesh="right_link_1.0"/>
229
+ <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
 
230
  <body name="right_rf_medial" pos="0 0 0.054">
231
+ <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
232
+ <geom class="right_medial_visual" mesh="right_link_2.0"/>
233
+ <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
 
234
  <body name="right_rf_distal" pos="0 0 0.0384">
235
+ <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
236
+ <geom class="right_distal_visual" mesh="right_link_3.0"/>
237
+ <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
 
238
  <body name="right_rf_tip">
239
+ <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
240
+ <geom name="right_ring_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
241
+ <site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
242
+ <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
243
+ <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
 
244
  </body>
245
  </body>
246
  </body>
247
  </body>
248
  </body>
249
+ <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
250
+ <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
251
+ <geom class="right_visual" mesh="right_link_12.0_right"/>
252
+ <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
 
 
253
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
254
+ <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
255
+ <geom class="right_visual" mesh="right_link_13.0"/>
256
+ <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
 
 
257
  <body name="right_th_medial" pos="0 0 0.0177">
258
+ <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
259
+ <geom class="right_visual" mesh="right_link_14.0"/>
260
+ <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
 
 
261
  <body name="right_th_distal" pos="0 0 0.0514">
262
+ <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
263
+ <geom class="right_visual" mesh="right_link_15.0"/>
264
+ <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
 
 
265
  <body name="right_th_tip">
266
+ <geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip"/>
267
+ <geom name="right_thumb_collision" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
268
+ <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
269
+ <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
270
+ <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
 
271
  </body>
272
  </body>
273
  </body>
 
275
  </body>
276
  </body>
277
  <body name="right_object">
278
+ <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
279
+ <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
280
+ <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
281
+ <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
282
+ <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
283
+ <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
284
+ <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
285
+ <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
286
+ <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
287
+ <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
288
+ <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
289
+ <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
290
+ <site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
291
+ <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
292
+ <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
293
+ <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0360651" size="0.01" group="4" rgba="0 1 0 1"/>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
294
  </body>
295
  <body name="ref_object_right_thumb_tip" mocap="true">
296
+ <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
297
  </body>
298
  <body name="ref_hand_right_thumb_tip" mocap="true">
299
+ <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
300
  </body>
301
  <body name="ref_object_right_index_tip" mocap="true">
302
+ <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
303
  </body>
304
  <body name="ref_hand_right_index_tip" mocap="true">
305
+ <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
306
  </body>
307
  <body name="ref_object_right_middle_tip" mocap="true">
308
+ <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
309
  </body>
310
  <body name="ref_hand_right_middle_tip" mocap="true">
311
+ <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
312
  </body>
313
  <body name="ref_object_right_ring_tip" mocap="true">
314
+ <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
315
  </body>
316
  <body name="ref_hand_right_ring_tip" mocap="true">
317
+ <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
318
  </body>
319
  </worldbody>
320
 
321
  <contact>
322
+ <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
323
+ <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
324
+ <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
325
+ <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
326
+ <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
327
+ <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
328
+ <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
329
+ <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
330
+ <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
331
+ <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
332
+ <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
333
+ <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
334
+ <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
335
+ <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
336
+ <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
337
+ <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
338
+ <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
339
+ <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
340
+ <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
341
+ <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
342
+ <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
343
+ <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
344
+ <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
345
+ <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
346
+ <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
347
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
348
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
349
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
350
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
351
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
352
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
353
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
354
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
355
+ <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
356
+ <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
357
+ <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
358
+ <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
359
+ <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
360
+ <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
361
+ <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
362
+ <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
363
+ <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
364
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
365
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
366
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
367
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
368
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
369
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
370
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
371
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
372
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
373
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
374
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
375
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
376
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
377
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
378
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
379
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
380
+ <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
381
+ <pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
382
+ <pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
383
+ <pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
384
+ <pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
385
+ <pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
386
+ <pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
387
+ <pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
388
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
389
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
390
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
391
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
392
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
393
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
394
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_6" name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
395
+ <pair geom1="right_ring_proximal_collision" geom2="right_object_7" name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
396
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_0" name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
397
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_1" name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
398
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_2" name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
399
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_3" name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
400
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_4" name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
401
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_5" name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
402
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_6" name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
403
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_7" name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
404
+ <pair geom1="right_ring_collision" geom2="right_object_0" name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
405
+ <pair geom1="right_ring_collision" geom2="right_object_1" name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
406
+ <pair geom1="right_ring_collision" geom2="right_object_2" name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
407
+ <pair geom1="right_ring_collision" geom2="right_object_3" name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
408
+ <pair geom1="right_ring_collision" geom2="right_object_4" name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
409
+ <pair geom1="right_ring_collision" geom2="right_object_5" name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
410
+ <pair geom1="right_ring_collision" geom2="right_object_6" name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
411
+ <pair geom1="right_ring_collision" geom2="right_object_7" name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
412
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_0" name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
413
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_1" name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
414
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_2" name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
415
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_3" name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
416
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_4" name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
417
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_5" name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
418
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_6" name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
419
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_7" name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
420
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_0" name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
421
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_1" name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
422
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_2" name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
423
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_3" name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
424
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_4" name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
425
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_5" name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
426
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_6" name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
427
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_7" name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
428
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_0" name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
429
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_1" name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
430
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_2" name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
431
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_3" name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
432
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_4" name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
433
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_5" name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
434
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_6" name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
435
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_7" name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
436
+ <pair geom1="right_thumb_collision" geom2="right_object_0" name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
437
+ <pair geom1="right_thumb_collision" geom2="right_object_1" name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
438
+ <pair geom1="right_thumb_collision" geom2="right_object_2" name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
439
+ <pair geom1="right_thumb_collision" geom2="right_object_3" name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
440
+ <pair geom1="right_thumb_collision" geom2="right_object_4" name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
441
+ <pair geom1="right_thumb_collision" geom2="right_object_5" name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
442
+ <pair geom1="right_thumb_collision" geom2="right_object_6" name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
443
+ <pair geom1="right_thumb_collision" geom2="right_object_7" name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
444
  </contact>
445
 
446
  <actuator>
447
+ <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
448
+ <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
449
+ <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
450
+ <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
451
+ <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
452
+ <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
453
+ <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
454
+ <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
455
+ <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
456
+ <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
457
+ <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
458
+ <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
459
+ <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
460
+ <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
461
+ <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
462
+ <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
463
+ <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
464
+ <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
465
+ <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
466
+ <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
467
+ <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
468
+ <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
469
  </actuator>
470
+ </mujoco>
processed/fair_mon/metahand/right/cat/scene_eq.xml CHANGED
@@ -1,305 +1,273 @@
1
  <mujoco model="metahand_right">
2
- <compiler angle="radian" meshdir="../../../assets/" />
3
 
4
  <option timestep="0.01" iterations="10">
5
- <flag eulerdamp="disable" />
6
  </option>
7
 
8
  <visual>
9
- <global azimuth="140" elevation="-20" />
10
- <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
11
- <rgba haze="0.15 0.25 0.35 1" />
12
  </visual>
13
 
14
  <default>
15
  <default class="mimic_right">
16
- <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
17
  </default>
18
  <default class="metahand_right">
19
- <joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2"
20
- frictionloss="0.02" />
21
- <geom density="800" />
22
- <general biastype="affine" gainprm="3" biasprm="0 -3" />
23
  <default class="right_visual">
24
- <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
25
  <default class="right_palm_visual">
26
- <geom mesh="right_base_link" />
27
  </default>
28
  <default class="right_base_visual">
29
- <geom mesh="right_link_0.0" />
30
  </default>
31
  <default class="right_proximal_visual">
32
- <geom mesh="right_link_1.0" />
33
  </default>
34
  <default class="right_medial_visual">
35
- <geom mesh="right_link_2.0" />
36
  </default>
37
  <default class="right_distal_visual">
38
- <geom mesh="right_link_3.0" />
39
  </default>
40
  <default class="right_fingertip_visual">
41
- <geom material="right_white" mesh="right_link_3.0_tip" />
42
  </default>
43
  <default class="right_thumbtip_visual">
44
- <geom material="right_white" mesh="right_link_15.0_tip" />
45
  </default>
46
  </default>
47
  <default class="right_collision">
48
- <geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
49
  <default class="right_palm_collision">
50
- <geom size="0.0204 0.0565 0.0475" />
51
  </default>
52
  <default class="right_base_collision">
53
- <geom size="0.0098 0.01375 0.0082" />
54
  <default class="right_thumb_base_collision">
55
- <geom size="0.0179 0.017 0.02275" />
56
  </default>
57
  </default>
58
  <default class="right_proximal_collision">
59
- <geom size="0.0098 0.01375 0.027" />
60
  <default class="right_thumb_proximal_collision">
61
- <geom size="0.0098 0.01375 0.00885" />
62
  </default>
63
  </default>
64
  <default class="right_medial_collision">
65
- <geom size="0.0098 0.01375 0.0192" />
66
  <default class="right_thumb_medial_collision">
67
- <geom size="0.0098 0.01375 0.0257" />
68
  </default>
69
  </default>
70
  <default class="right_distal_collision">
71
- <geom size="0.0098 0.01375 0.008" />
72
  <default class="right_thumb_distal_collision">
73
- <geom size="0.0098 0.01375 0.0157" />
74
  </default>
75
  </default>
76
  <default class="right_fingertip_collision">
77
- <geom size="0.01235 0 0" type="capsule" />
78
- <default class="right_thumbtip_collision" />
79
  </default>
80
  </default>
81
  <default class="right_base_slide">
82
- <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0" />
83
- <general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1" />
84
  </default>
85
  <default class="right_base_hinge">
86
- <joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0" />
87
- <general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1" />
88
  </default>
89
  <default class="right_base">
90
- <joint range="-0.47 0.47" />
91
- <general ctrlrange="-0.47 0.47" />
92
  </default>
93
  <default class="right_proximal">
94
- <joint range="0.196 1.61" />
95
- <general ctrlrange="0.196 1.61" />
96
  </default>
97
  <default class="right_medial">
98
- <joint range="0.174 1.709" />
99
- <general ctrlrange="0.174 1.709" />
100
  </default>
101
  <default class="right_distal">
102
- <joint range="0.227 1.618" />
103
- <general ctrlrange="0.227 1.618" />
104
  </default>
105
  <default class="right_thumb_base">
106
- <joint range="0.263 1.396" />
107
- <general ctrlrange="0.263 1.396" />
108
  </default>
109
  <default class="right_thumb_proximal">
110
- <joint range="0.105 1.163" />
111
- <general ctrlrange="0.105 1.163" />
112
  </default>
113
  <default class="right_thumb_medial">
114
- <joint range="0.189 1.644" />
115
- <general ctrlrange="0.189 1.644" />
116
  </default>
117
  <default class="right_thumb_distal">
118
- <joint range="0.162 1.719" />
119
- <general ctrlrange="0.162 1.719" />
120
  </default>
121
  </default>
122
  </default>
123
 
124
  <asset>
125
- <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
126
- width="512" height="3072" />
127
- <texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge"
128
- 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" />
129
- <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7"
130
- rgb2="0 0 0" width="512" height="3072" />
131
- <texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
132
- 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" />
133
- <material name="right_black" rgba="0.2 0.2 0.2 1" />
134
- <material name="right_white" rgba="0.9 0.9 0.9 1" />
135
- <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
136
- reflectance="0.2" />
137
- <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
138
- <mesh name="right_base_link" file="robots/metahand/assets/base_link.stl" />
139
- <mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl" />
140
- <mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl" />
141
- <mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl" />
142
- <mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl" />
143
- <mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl" />
144
- <mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl" />
145
- <mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl" />
146
- <mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl" />
147
- <mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl" />
148
- <mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl" />
149
- <mesh name="right_0" file="objects/cat/convex/0.obj" />
150
- <mesh name="right_1" file="objects/cat/convex/1.obj" />
151
- <mesh name="right_2" file="objects/cat/convex/2.obj" />
152
- <mesh name="right_3" file="objects/cat/convex/3.obj" />
153
- <mesh name="right_4" file="objects/cat/convex/4.obj" />
154
- <mesh name="right_5" file="objects/cat/convex/5.obj" />
155
- <mesh name="right_6" file="objects/cat/convex/6.obj" />
156
- <mesh name="right_7" file="objects/cat/convex/7.obj" />
157
- <mesh name="right_visual" file="objects/cat/visual.obj" />
158
  </asset>
159
 
160
  <worldbody>
161
- <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
162
- <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
163
- mode="trackcom" />
164
- <light pos="0 0 3.5" dir="0 0 -1" />
165
  <body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
166
- <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0" />
167
- <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0" />
168
- <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1" />
169
- <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0" />
170
- <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0" />
171
- <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1" />
172
- <geom class="right_palm_visual" mesh="right_base_link" />
173
- <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475"
174
- mass="0" />
175
- <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
176
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
177
- <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
178
- <geom class="right_base_visual" mesh="right_link_0.0" />
179
- <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082"
180
- mass="0" />
181
  <body name="right_ff_proximal" pos="0 0 0.0164">
182
- <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
183
- <geom class="right_proximal_visual" mesh="right_link_1.0" />
184
- <geom name="right_index_proximal_collision" class="right_proximal_collision"
185
- pos="0 0 0.027" mass="0" />
186
  <body name="right_ff_medial" pos="0 0 0.054">
187
- <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
188
- <geom class="right_medial_visual" mesh="right_link_2.0" />
189
- <geom name="right_index_intermediate_collision" class="right_medial_collision"
190
- pos="0 0 0.0192" mass="0" />
191
  <body name="right_ff_distal" pos="0 0 0.0384">
192
- <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
193
- <geom class="right_distal_visual" mesh="right_link_3.0" />
194
- <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008"
195
- mass="0" />
196
  <body name="right_ff_tip">
197
- <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
198
- <geom name="right_index_collision" class="right_fingertip_collision"
199
- size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
200
- <site name="right_index_tip" class="mimic_right" pos="0 0 0.0515" />
201
- <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515" />
202
- <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515" />
203
  </body>
204
  </body>
205
  </body>
206
  </body>
207
  </body>
208
  <body name="right_mf_base" pos="0 0 0.0007">
209
- <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
210
- <geom class="right_base_visual" mesh="right_link_0.0" />
211
- <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082"
212
- mass="0" />
213
  <body name="right_mf_proximal" pos="0 0 0.0164">
214
- <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
215
- <geom class="right_proximal_visual" mesh="right_link_1.0" />
216
- <geom name="right_middle_proximal_collision" class="right_proximal_collision"
217
- pos="0 0 0.027" mass="0" />
218
  <body name="right_mf_medial" pos="0 0 0.054">
219
- <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
220
- <geom class="right_medial_visual" mesh="right_link_2.0" />
221
- <geom name="right_middle_intermediate_collision" class="right_medial_collision"
222
- pos="0 0 0.0192" mass="0" />
223
  <body name="right_mf_distal" pos="0 0 0.0384">
224
- <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
225
- <geom class="right_distal_visual" mesh="right_link_3.0" />
226
- <geom name="right_middle_distal_collision" class="right_distal_collision"
227
- pos="0 0 0.008" mass="0" />
228
  <body name="right_mf_tip">
229
- <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
230
- <geom name="right_middle_collision" class="right_fingertip_collision"
231
- size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
232
- <site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
233
- <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
234
- <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
235
  </body>
236
  </body>
237
  </body>
238
  </body>
239
  </body>
240
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
241
- <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
242
- <geom class="right_base_visual" mesh="right_link_0.0" />
243
- <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082"
244
- mass="0" />
245
  <body name="right_rf_proximal" pos="0 0 0.0164">
246
- <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
247
- <geom class="right_proximal_visual" mesh="right_link_1.0" />
248
- <geom name="right_ring_proximal_collision" class="right_proximal_collision"
249
- pos="0 0 0.027" mass="0" />
250
  <body name="right_rf_medial" pos="0 0 0.054">
251
- <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
252
- <geom class="right_medial_visual" mesh="right_link_2.0" />
253
- <geom name="right_ring_intermediate_collision" class="right_medial_collision"
254
- pos="0 0 0.0192" mass="0" />
255
  <body name="right_rf_distal" pos="0 0 0.0384">
256
- <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
257
- <geom class="right_distal_visual" mesh="right_link_3.0" />
258
- <geom name="right_ring_distal_collision" class="right_distal_collision"
259
- pos="0 0 0.008" mass="0" />
260
  <body name="right_rf_tip">
261
- <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
262
- <geom name="right_ring_collision" class="right_fingertip_collision"
263
- size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
264
- <site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
265
- <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
266
- <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
267
  </body>
268
  </body>
269
  </body>
270
  </body>
271
  </body>
272
- <body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
273
- quat="0.477714 -0.521334 -0.521334 -0.477714">
274
- <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0" />
275
- <geom class="right_visual" mesh="right_link_12.0_right" />
276
- <geom name="right_thumb_base_collision" class="right_thumb_base_collision"
277
- pos="-0.0179 0.009 0.0145" mass="0" />
278
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
279
- <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0"
280
- axis="0 0 1" />
281
- <geom class="right_visual" mesh="right_link_13.0" />
282
- <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision"
283
- pos="0 0 0.00885" mass="0" />
284
  <body name="right_th_medial" pos="0 0 0.0177">
285
- <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0"
286
- axis="0 1 0" />
287
- <geom class="right_visual" mesh="right_link_14.0" />
288
- <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision"
289
- pos="0 0 0.0257" mass="0" />
290
  <body name="right_th_distal" pos="0 0 0.0514">
291
- <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0"
292
- axis="0 1 0" />
293
- <geom class="right_visual" mesh="right_link_15.0" />
294
- <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision"
295
- pos="0 0 0.0157" mass="0" />
296
  <body name="right_th_tip">
297
- <geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip" />
298
- <geom name="right_thumb_collision" class="right_thumbtip_collision"
299
- size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0" />
300
- <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
301
- <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
302
- <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
303
  </body>
304
  </body>
305
  </body>
@@ -307,401 +275,207 @@
307
  </body>
308
  </body>
309
  <body name="right_object">
310
- <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false"
311
- armature="0.0001" frictionloss="0.0001" />
312
- <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100"
313
- rgba="0 1 0 1" mesh="right_0" />
314
- <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100"
315
- rgba="0 1 0 1" mesh="right_1" />
316
- <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100"
317
- rgba="0 1 0 1" mesh="right_2" />
318
- <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100"
319
- rgba="0 1 0 1" mesh="right_3" />
320
- <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100"
321
- rgba="0 1 0 1" mesh="right_4" />
322
- <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100"
323
- rgba="0 1 0 1" mesh="right_5" />
324
- <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100"
325
- rgba="0 1 0 1" mesh="right_6" />
326
- <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100"
327
- rgba="0 1 0 1" mesh="right_7" />
328
- <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0"
329
- rgba="1 1 1 1" mesh="right_visual" />
330
- <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box"
331
- rgba="1 0 0 1" />
332
- <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
333
- <site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01"
334
- group="4" rgba="0 1 0 1" />
335
- <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01"
336
- group="4" rgba="0 1 0 1" />
337
- <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01"
338
- group="4" rgba="0 1 0 1" />
339
- <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0360651" size="0.01"
340
- group="4" rgba="0 1 0 1" />
341
  </body>
342
  <body name="ref_object_right_thumb_tip" mocap="true">
343
- <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
344
  </body>
345
  <body name="ref_hand_right_thumb_tip" mocap="true">
346
- <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
347
  </body>
348
  <body name="ref_object_right_index_tip" mocap="true">
349
- <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
350
  </body>
351
  <body name="ref_hand_right_index_tip" mocap="true">
352
- <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
353
  </body>
354
  <body name="ref_object_right_middle_tip" mocap="true">
355
- <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
356
  </body>
357
  <body name="ref_hand_right_middle_tip" mocap="true">
358
- <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
359
  </body>
360
  <body name="ref_object_right_ring_tip" mocap="true">
361
- <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
362
  </body>
363
  <body name="ref_hand_right_ring_tip" mocap="true">
364
- <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="6" rgba="0 0 1 1" />
365
  </body>
366
  </worldbody>
367
 
368
  <contact>
369
- <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008"
370
- friction="1 1 0.1 0 0" />
371
- <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008"
372
- friction="1 1 0.1 0 0" />
373
- <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008"
374
- friction="1 1 0.1 0 0" />
375
- <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008"
376
- friction="1 1 0.1 0 0" />
377
- <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008"
378
- friction="1 1 0.1 0 0" />
379
- <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008"
380
- friction="1 1 0.1 0 0" />
381
- <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008"
382
- friction="1 1 0.1 0 0" />
383
- <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008"
384
- friction="1 1 0.1 0 0" />
385
- <pair geom1="right_palm_collision" geom2="right_object_0"
386
- name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
387
- <pair geom1="right_palm_collision" geom2="right_object_1"
388
- name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
389
- <pair geom1="right_palm_collision" geom2="right_object_2"
390
- name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
391
- <pair geom1="right_palm_collision" geom2="right_object_3"
392
- name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
393
- <pair geom1="right_palm_collision" geom2="right_object_4"
394
- name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
395
- <pair geom1="right_palm_collision" geom2="right_object_5"
396
- name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
397
- <pair geom1="right_palm_collision" geom2="right_object_6"
398
- name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
399
- <pair geom1="right_palm_collision" geom2="right_object_7"
400
- name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
401
- <pair geom1="right_index_proximal_collision" geom2="right_object_0"
402
- name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008"
403
- friction="1 1 0.1 0 0" />
404
- <pair geom1="right_index_proximal_collision" geom2="right_object_1"
405
- name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008"
406
- friction="1 1 0.1 0 0" />
407
- <pair geom1="right_index_proximal_collision" geom2="right_object_2"
408
- name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008"
409
- friction="1 1 0.1 0 0" />
410
- <pair geom1="right_index_proximal_collision" geom2="right_object_3"
411
- name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008"
412
- friction="1 1 0.1 0 0" />
413
- <pair geom1="right_index_proximal_collision" geom2="right_object_4"
414
- name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008"
415
- friction="1 1 0.1 0 0" />
416
- <pair geom1="right_index_proximal_collision" geom2="right_object_5"
417
- name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008"
418
- friction="1 1 0.1 0 0" />
419
- <pair geom1="right_index_proximal_collision" geom2="right_object_6"
420
- name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008"
421
- friction="1 1 0.1 0 0" />
422
- <pair geom1="right_index_proximal_collision" geom2="right_object_7"
423
- name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008"
424
- friction="1 1 0.1 0 0" />
425
- <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision"
426
- name="right_thumb_collision_right_index_intermediate_collision" solref="0.008"
427
- friction="1 1 0.1 0 0" />
428
- <pair geom1="right_index_intermediate_collision" geom2="right_object_0"
429
- name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008"
430
- friction="1 1 0.1 0 0" />
431
- <pair geom1="right_index_intermediate_collision" geom2="right_object_1"
432
- name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008"
433
- friction="1 1 0.1 0 0" />
434
- <pair geom1="right_index_intermediate_collision" geom2="right_object_2"
435
- name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008"
436
- friction="1 1 0.1 0 0" />
437
- <pair geom1="right_index_intermediate_collision" geom2="right_object_3"
438
- name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008"
439
- friction="1 1 0.1 0 0" />
440
- <pair geom1="right_index_intermediate_collision" geom2="right_object_4"
441
- name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008"
442
- friction="1 1 0.1 0 0" />
443
- <pair geom1="right_index_intermediate_collision" geom2="right_object_5"
444
- name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008"
445
- friction="1 1 0.1 0 0" />
446
- <pair geom1="right_index_intermediate_collision" geom2="right_object_6"
447
- name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008"
448
- friction="1 1 0.1 0 0" />
449
- <pair geom1="right_index_intermediate_collision" geom2="right_object_7"
450
- name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008"
451
- friction="1 1 0.1 0 0" />
452
- <pair geom1="right_index_collision" geom2="right_thumb_collision"
453
- name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0" />
454
- <pair geom1="right_index_collision" geom2="right_object_0"
455
- name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
456
- <pair geom1="right_index_collision" geom2="right_object_1"
457
- name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
458
- <pair geom1="right_index_collision" geom2="right_object_2"
459
- name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
460
- <pair geom1="right_index_collision" geom2="right_object_3"
461
- name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
462
- <pair geom1="right_index_collision" geom2="right_object_4"
463
- name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
464
- <pair geom1="right_index_collision" geom2="right_object_5"
465
- name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
466
- <pair geom1="right_index_collision" geom2="right_object_6"
467
- name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
468
- <pair geom1="right_index_collision" geom2="right_object_7"
469
- name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
470
- <pair geom1="right_middle_proximal_collision" geom2="right_object_0"
471
- name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
472
- <pair geom1="right_middle_proximal_collision" geom2="right_object_1"
473
- name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
474
- <pair geom1="right_middle_proximal_collision" geom2="right_object_2"
475
- name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
476
- <pair geom1="right_middle_proximal_collision" geom2="right_object_3"
477
- name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
478
- <pair geom1="right_middle_proximal_collision" geom2="right_object_4"
479
- name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
480
- <pair geom1="right_middle_proximal_collision" geom2="right_object_5"
481
- name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
482
- <pair geom1="right_middle_proximal_collision" geom2="right_object_6"
483
- name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
484
- <pair geom1="right_middle_proximal_collision" geom2="right_object_7"
485
- name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
486
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_0"
487
- name="right_middle_intermediate_collision_right_object_0" solref="0.008"
488
- friction="1 1 0.1 0 0" />
489
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_1"
490
- name="right_middle_intermediate_collision_right_object_1" solref="0.008"
491
- friction="1 1 0.1 0 0" />
492
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_2"
493
- name="right_middle_intermediate_collision_right_object_2" solref="0.008"
494
- friction="1 1 0.1 0 0" />
495
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_3"
496
- name="right_middle_intermediate_collision_right_object_3" solref="0.008"
497
- friction="1 1 0.1 0 0" />
498
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_4"
499
- name="right_middle_intermediate_collision_right_object_4" solref="0.008"
500
- friction="1 1 0.1 0 0" />
501
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_5"
502
- name="right_middle_intermediate_collision_right_object_5" solref="0.008"
503
- friction="1 1 0.1 0 0" />
504
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_6"
505
- name="right_middle_intermediate_collision_right_object_6" solref="0.008"
506
- friction="1 1 0.1 0 0" />
507
- <pair geom1="right_middle_intermediate_collision" geom2="right_object_7"
508
- name="right_middle_intermediate_collision_right_object_7" solref="0.008"
509
- friction="1 1 0.1 0 0" />
510
- <pair geom1="right_middle_collision" geom2="right_object_0"
511
- name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
512
- <pair geom1="right_middle_collision" geom2="right_object_1"
513
- name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
514
- <pair geom1="right_middle_collision" geom2="right_object_2"
515
- name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
516
- <pair geom1="right_middle_collision" geom2="right_object_3"
517
- name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
518
- <pair geom1="right_middle_collision" geom2="right_object_4"
519
- name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
520
- <pair geom1="right_middle_collision" geom2="right_object_5"
521
- name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
522
- <pair geom1="right_middle_collision" geom2="right_object_6"
523
- name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
524
- <pair geom1="right_middle_collision" geom2="right_object_7"
525
- name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
526
- <pair geom1="right_ring_proximal_collision" geom2="right_object_0"
527
- name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
528
- <pair geom1="right_ring_proximal_collision" geom2="right_object_1"
529
- name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
530
- <pair geom1="right_ring_proximal_collision" geom2="right_object_2"
531
- name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
532
- <pair geom1="right_ring_proximal_collision" geom2="right_object_3"
533
- name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
534
- <pair geom1="right_ring_proximal_collision" geom2="right_object_4"
535
- name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
536
- <pair geom1="right_ring_proximal_collision" geom2="right_object_5"
537
- name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
538
- <pair geom1="right_ring_proximal_collision" geom2="right_object_6"
539
- name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
540
- <pair geom1="right_ring_proximal_collision" geom2="right_object_7"
541
- name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
542
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_0"
543
- name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
544
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_1"
545
- name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
546
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_2"
547
- name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
548
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_3"
549
- name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
550
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_4"
551
- name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
552
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_5"
553
- name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
554
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_6"
555
- name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
556
- <pair geom1="right_ring_intermediate_collision" geom2="right_object_7"
557
- name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
558
- <pair geom1="right_ring_collision" geom2="right_object_0"
559
- name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
560
- <pair geom1="right_ring_collision" geom2="right_object_1"
561
- name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
562
- <pair geom1="right_ring_collision" geom2="right_object_2"
563
- name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
564
- <pair geom1="right_ring_collision" geom2="right_object_3"
565
- name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
566
- <pair geom1="right_ring_collision" geom2="right_object_4"
567
- name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
568
- <pair geom1="right_ring_collision" geom2="right_object_5"
569
- name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
570
- <pair geom1="right_ring_collision" geom2="right_object_6"
571
- name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
572
- <pair geom1="right_ring_collision" geom2="right_object_7"
573
- name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
574
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_0"
575
- name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008"
576
- friction="1 1 0.1 0 0" />
577
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_1"
578
- name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008"
579
- friction="1 1 0.1 0 0" />
580
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_2"
581
- name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008"
582
- friction="1 1 0.1 0 0" />
583
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_3"
584
- name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008"
585
- friction="1 1 0.1 0 0" />
586
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_4"
587
- name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008"
588
- friction="1 1 0.1 0 0" />
589
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_5"
590
- name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008"
591
- friction="1 1 0.1 0 0" />
592
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_6"
593
- name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008"
594
- friction="1 1 0.1 0 0" />
595
- <pair geom1="right_thumb_proximal_collision" geom2="right_object_7"
596
- name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008"
597
- friction="1 1 0.1 0 0" />
598
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_0"
599
- name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008"
600
- friction="1 1 0.1 0 0" />
601
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_1"
602
- name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008"
603
- friction="1 1 0.1 0 0" />
604
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_2"
605
- name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008"
606
- friction="1 1 0.1 0 0" />
607
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_3"
608
- name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008"
609
- friction="1 1 0.1 0 0" />
610
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_4"
611
- name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008"
612
- friction="1 1 0.1 0 0" />
613
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_5"
614
- name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008"
615
- friction="1 1 0.1 0 0" />
616
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_6"
617
- name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008"
618
- friction="1 1 0.1 0 0" />
619
- <pair geom1="right_thumb_intermediate_collision" geom2="right_object_7"
620
- name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008"
621
- friction="1 1 0.1 0 0" />
622
- <pair geom1="right_thumb_distal_collision" geom2="right_object_0"
623
- name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008"
624
- friction="1 1 0.1 0 0" />
625
- <pair geom1="right_thumb_distal_collision" geom2="right_object_1"
626
- name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008"
627
- friction="1 1 0.1 0 0" />
628
- <pair geom1="right_thumb_distal_collision" geom2="right_object_2"
629
- name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008"
630
- friction="1 1 0.1 0 0" />
631
- <pair geom1="right_thumb_distal_collision" geom2="right_object_3"
632
- name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008"
633
- friction="1 1 0.1 0 0" />
634
- <pair geom1="right_thumb_distal_collision" geom2="right_object_4"
635
- name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008"
636
- friction="1 1 0.1 0 0" />
637
- <pair geom1="right_thumb_distal_collision" geom2="right_object_5"
638
- name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008"
639
- friction="1 1 0.1 0 0" />
640
- <pair geom1="right_thumb_distal_collision" geom2="right_object_6"
641
- name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008"
642
- friction="1 1 0.1 0 0" />
643
- <pair geom1="right_thumb_distal_collision" geom2="right_object_7"
644
- name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008"
645
- friction="1 1 0.1 0 0" />
646
- <pair geom1="right_thumb_collision" geom2="right_object_0"
647
- name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
648
- <pair geom1="right_thumb_collision" geom2="right_object_1"
649
- name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
650
- <pair geom1="right_thumb_collision" geom2="right_object_2"
651
- name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
652
- <pair geom1="right_thumb_collision" geom2="right_object_3"
653
- name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
654
- <pair geom1="right_thumb_collision" geom2="right_object_4"
655
- name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
656
- <pair geom1="right_thumb_collision" geom2="right_object_5"
657
- name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
658
- <pair geom1="right_thumb_collision" geom2="right_object_6"
659
- name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
660
- <pair geom1="right_thumb_collision" geom2="right_object_7"
661
- name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
662
  </contact>
663
 
664
  <equality>
665
- <connect name="track_hand_right_index_tip_equality_constraint"
666
- site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100" />
667
- <connect name="track_hand_right_middle_tip_equality_constraint"
668
- site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100" />
669
- <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip"
670
- site2="ref_hand_right_ring_tip" solimp="0 1 100" />
671
- <connect name="track_hand_right_thumb_tip_equality_constraint"
672
- site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100" />
673
- <connect name="track_object_right_thumb_tip_equality_constraint"
674
- site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100" />
675
- <connect name="track_object_right_index_tip_equality_constraint"
676
- site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100" />
677
- <connect name="track_object_right_middle_tip_equality_constraint"
678
- site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100" />
679
- <connect name="track_object_right_ring_tip_equality_constraint"
680
- site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100" />
681
  </equality>
682
 
683
  <actuator>
684
- <general name="right_pos_x" class="right_base_slide" joint="right_pos_x" />
685
- <general name="right_pos_y" class="right_base_slide" joint="right_pos_y" />
686
- <general name="right_pos_z" class="right_base_slide" joint="right_pos_z" />
687
- <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x" />
688
- <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y" />
689
- <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z" />
690
- <general name="right_ffa0" class="right_base" joint="right_index_base_joint" />
691
- <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint" />
692
- <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint" />
693
- <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint" />
694
- <general name="right_mfa0" class="right_base" joint="right_middle_base_joint" />
695
- <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint" />
696
- <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint" />
697
- <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint" />
698
- <general name="right_rfa0" class="right_base" joint="right_ring_base_joint" />
699
- <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint" />
700
- <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint" />
701
- <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint" />
702
- <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint" />
703
- <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint" />
704
- <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint" />
705
- <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint" />
706
  </actuator>
707
- </mujoco>
 
1
  <mujoco model="metahand_right">
2
+ <compiler angle="radian" meshdir="../../../assets/"/>
3
 
4
  <option timestep="0.01" iterations="10">
5
+ <flag eulerdamp="disable"/>
6
  </option>
7
 
8
  <visual>
9
+ <global azimuth="140" elevation="-20"/>
10
+ <headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
11
+ <rgba haze="0.15 0.25 0.35 1"/>
12
  </visual>
13
 
14
  <default>
15
  <default class="mimic_right">
16
+ <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
17
  </default>
18
  <default class="metahand_right">
19
+ <joint armature="1"/>
20
+ <geom density="800"/>
21
+ <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
 
22
  <default class="right_visual">
23
+ <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
24
  <default class="right_palm_visual">
25
+ <geom mesh="right_base_link"/>
26
  </default>
27
  <default class="right_base_visual">
28
+ <geom mesh="right_link_0.0"/>
29
  </default>
30
  <default class="right_proximal_visual">
31
+ <geom mesh="right_link_1.0"/>
32
  </default>
33
  <default class="right_medial_visual">
34
+ <geom mesh="right_link_2.0"/>
35
  </default>
36
  <default class="right_distal_visual">
37
+ <geom mesh="right_link_3.0"/>
38
  </default>
39
  <default class="right_fingertip_visual">
40
+ <geom material="right_white" mesh="right_link_3.0_tip"/>
41
  </default>
42
  <default class="right_thumbtip_visual">
43
+ <geom material="right_white" mesh="right_link_15.0_tip"/>
44
  </default>
45
  </default>
46
  <default class="right_collision">
47
+ <geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
48
  <default class="right_palm_collision">
49
+ <geom size="0.0204 0.0565 0.0475"/>
50
  </default>
51
  <default class="right_base_collision">
52
+ <geom size="0.0098 0.01375 0.0082"/>
53
  <default class="right_thumb_base_collision">
54
+ <geom size="0.0179 0.017 0.02275"/>
55
  </default>
56
  </default>
57
  <default class="right_proximal_collision">
58
+ <geom size="0.0098 0.01375 0.027"/>
59
  <default class="right_thumb_proximal_collision">
60
+ <geom size="0.0098 0.01375 0.00885"/>
61
  </default>
62
  </default>
63
  <default class="right_medial_collision">
64
+ <geom size="0.0098 0.01375 0.0192"/>
65
  <default class="right_thumb_medial_collision">
66
+ <geom size="0.0098 0.01375 0.0257"/>
67
  </default>
68
  </default>
69
  <default class="right_distal_collision">
70
+ <geom size="0.0098 0.01375 0.008"/>
71
  <default class="right_thumb_distal_collision">
72
+ <geom size="0.0098 0.01375 0.0157"/>
73
  </default>
74
  </default>
75
  <default class="right_fingertip_collision">
76
+ <geom size="0.01235 0 0" type="capsule"/>
77
+ <default class="right_thumbtip_collision"/>
78
  </default>
79
  </default>
80
  <default class="right_base_slide">
81
+ <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000"/>
82
+ <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
83
  </default>
84
  <default class="right_base_hinge">
85
+ <joint range="-6.28 6.28" actuatorfrcrange="-1000 1000"/>
86
+ <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
87
  </default>
88
  <default class="right_base">
89
+ <joint range="-0.47 0.47"/>
90
+ <general ctrlrange="-0.47 0.47"/>
91
  </default>
92
  <default class="right_proximal">
93
+ <joint range="0.196 1.61"/>
94
+ <general ctrlrange="0.196 1.61"/>
95
  </default>
96
  <default class="right_medial">
97
+ <joint range="0.174 1.709"/>
98
+ <general ctrlrange="0.174 1.709"/>
99
  </default>
100
  <default class="right_distal">
101
+ <joint range="0.227 1.618"/>
102
+ <general ctrlrange="0.227 1.618"/>
103
  </default>
104
  <default class="right_thumb_base">
105
+ <joint range="0.263 1.396"/>
106
+ <general ctrlrange="0.263 1.396"/>
107
  </default>
108
  <default class="right_thumb_proximal">
109
+ <joint range="0.105 1.163"/>
110
+ <general ctrlrange="0.105 1.163"/>
111
  </default>
112
  <default class="right_thumb_medial">
113
+ <joint range="0.189 1.644"/>
114
+ <general ctrlrange="0.189 1.644"/>
115
  </default>
116
  <default class="right_thumb_distal">
117
+ <joint range="0.162 1.719"/>
118
+ <general ctrlrange="0.162 1.719"/>
119
  </default>
120
  </default>
121
  </default>
122
 
123
  <asset>
124
+ <texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
125
+ <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"/>
126
+ <texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
127
+ <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"/>
128
+ <material name="right_black" rgba="0.2 0.2 0.2 1"/>
129
+ <material name="right_white" rgba="0.9 0.9 0.9 1"/>
130
+ <material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
131
+ <material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
132
+ <mesh name="right_base_link" file="robots/metahand/assets/base_link.stl"/>
133
+ <mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl"/>
134
+ <mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl"/>
135
+ <mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl"/>
136
+ <mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl"/>
137
+ <mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl"/>
138
+ <mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl"/>
139
+ <mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl"/>
140
+ <mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl"/>
141
+ <mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl"/>
142
+ <mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl"/>
143
+ <mesh name="right_0" file="objects/cat/convex/0.obj"/>
144
+ <mesh name="right_1" file="objects/cat/convex/1.obj"/>
145
+ <mesh name="right_2" file="objects/cat/convex/2.obj"/>
146
+ <mesh name="right_3" file="objects/cat/convex/3.obj"/>
147
+ <mesh name="right_4" file="objects/cat/convex/4.obj"/>
148
+ <mesh name="right_5" file="objects/cat/convex/5.obj"/>
149
+ <mesh name="right_6" file="objects/cat/convex/6.obj"/>
150
+ <mesh name="right_7" file="objects/cat/convex/7.obj"/>
151
+ <mesh name="right_visual" file="objects/cat/visual.obj"/>
 
 
 
 
 
152
  </asset>
153
 
154
  <worldbody>
155
+ <geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
156
+ <camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
157
+ <light pos="0 0 3.5" dir="0 0 -1"/>
 
158
  <body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
159
+ <joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
160
+ <joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
161
+ <joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
162
+ <joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
163
+ <joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
164
+ <joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
165
+ <geom class="right_palm_visual" mesh="right_base_link"/>
166
+ <geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
167
+ <site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
 
168
  <body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
169
+ <joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
170
+ <geom class="right_base_visual" mesh="right_link_0.0"/>
171
+ <geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
 
172
  <body name="right_ff_proximal" pos="0 0 0.0164">
173
+ <joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
174
+ <geom class="right_proximal_visual" mesh="right_link_1.0"/>
175
+ <geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
 
176
  <body name="right_ff_medial" pos="0 0 0.054">
177
+ <joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
178
+ <geom class="right_medial_visual" mesh="right_link_2.0"/>
179
+ <geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
 
180
  <body name="right_ff_distal" pos="0 0 0.0384">
181
+ <joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
182
+ <geom class="right_distal_visual" mesh="right_link_3.0"/>
183
+ <geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
 
184
  <body name="right_ff_tip">
185
+ <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
186
+ <geom name="right_index_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
187
+ <site name="right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
188
+ <site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
189
+ <site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
 
190
  </body>
191
  </body>
192
  </body>
193
  </body>
194
  </body>
195
  <body name="right_mf_base" pos="0 0 0.0007">
196
+ <joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
197
+ <geom class="right_base_visual" mesh="right_link_0.0"/>
198
+ <geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
 
199
  <body name="right_mf_proximal" pos="0 0 0.0164">
200
+ <joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
201
+ <geom class="right_proximal_visual" mesh="right_link_1.0"/>
202
+ <geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
 
203
  <body name="right_mf_medial" pos="0 0 0.054">
204
+ <joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
205
+ <geom class="right_medial_visual" mesh="right_link_2.0"/>
206
+ <geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
 
207
  <body name="right_mf_distal" pos="0 0 0.0384">
208
+ <joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
209
+ <geom class="right_distal_visual" mesh="right_link_3.0"/>
210
+ <geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
 
211
  <body name="right_mf_tip">
212
+ <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
213
+ <geom name="right_middle_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
214
+ <site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
215
+ <site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
216
+ <site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
 
217
  </body>
218
  </body>
219
  </body>
220
  </body>
221
  </body>
222
  <body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
223
+ <joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
224
+ <geom class="right_base_visual" mesh="right_link_0.0"/>
225
+ <geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
 
226
  <body name="right_rf_proximal" pos="0 0 0.0164">
227
+ <joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
228
+ <geom class="right_proximal_visual" mesh="right_link_1.0"/>
229
+ <geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
 
230
  <body name="right_rf_medial" pos="0 0 0.054">
231
+ <joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
232
+ <geom class="right_medial_visual" mesh="right_link_2.0"/>
233
+ <geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
 
234
  <body name="right_rf_distal" pos="0 0 0.0384">
235
+ <joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
236
+ <geom class="right_distal_visual" mesh="right_link_3.0"/>
237
+ <geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
 
238
  <body name="right_rf_tip">
239
+ <geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
240
+ <geom name="right_ring_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
241
+ <site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
242
+ <site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
243
+ <site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
 
244
  </body>
245
  </body>
246
  </body>
247
  </body>
248
  </body>
249
+ <body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
250
+ <joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
251
+ <geom class="right_visual" mesh="right_link_12.0_right"/>
252
+ <geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
 
 
253
  <body name="right_th_proximal" pos="-0.027 0.005 0.0399">
254
+ <joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
255
+ <geom class="right_visual" mesh="right_link_13.0"/>
256
+ <geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
 
 
257
  <body name="right_th_medial" pos="0 0 0.0177">
258
+ <joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
259
+ <geom class="right_visual" mesh="right_link_14.0"/>
260
+ <geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
 
 
261
  <body name="right_th_distal" pos="0 0 0.0514">
262
+ <joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
263
+ <geom class="right_visual" mesh="right_link_15.0"/>
264
+ <geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
 
 
265
  <body name="right_th_tip">
266
+ <geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip"/>
267
+ <geom name="right_thumb_collision" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
268
+ <site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
269
+ <site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
270
+ <site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
 
271
  </body>
272
  </body>
273
  </body>
 
275
  </body>
276
  </body>
277
  <body name="right_object">
278
+ <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
279
+ <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
280
+ <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
281
+ <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
282
+ <geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
283
+ <geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
284
+ <geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
285
+ <geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
286
+ <geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
287
+ <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
288
+ <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
289
+ <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
290
+ <site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
291
+ <site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
292
+ <site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
293
+ <site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0360651" size="0.01" group="4" rgba="0 1 0 1"/>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
294
  </body>
295
  <body name="ref_object_right_thumb_tip" mocap="true">
296
+ <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
297
  </body>
298
  <body name="ref_hand_right_thumb_tip" mocap="true">
299
+ <site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
300
  </body>
301
  <body name="ref_object_right_index_tip" mocap="true">
302
+ <site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
303
  </body>
304
  <body name="ref_hand_right_index_tip" mocap="true">
305
+ <site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
306
  </body>
307
  <body name="ref_object_right_middle_tip" mocap="true">
308
+ <site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
309
  </body>
310
  <body name="ref_hand_right_middle_tip" mocap="true">
311
+ <site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
312
  </body>
313
  <body name="ref_object_right_ring_tip" mocap="true">
314
+ <site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
315
  </body>
316
  <body name="ref_hand_right_ring_tip" mocap="true">
317
+ <site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
318
  </body>
319
  </worldbody>
320
 
321
  <contact>
322
+ <pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
323
+ <pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
324
+ <pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
325
+ <pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
326
+ <pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
327
+ <pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
328
+ <pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
329
+ <pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
330
+ <pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
331
+ <pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
332
+ <pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
333
+ <pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
334
+ <pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
335
+ <pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
336
+ <pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
337
+ <pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
338
+ <pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
339
+ <pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
340
+ <pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
341
+ <pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
342
+ <pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
343
+ <pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
344
+ <pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
345
+ <pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
346
+ <pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
347
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
348
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
349
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
350
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
351
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
352
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
353
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
354
+ <pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
355
+ <pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
356
+ <pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
357
+ <pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
358
+ <pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
359
+ <pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
360
+ <pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
361
+ <pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
362
+ <pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
363
+ <pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
364
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
365
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
366
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
367
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
368
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
369
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
370
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
371
+ <pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
372
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
373
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
374
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
375
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
376
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
377
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
378
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
379
+ <pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
380
+ <pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
381
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382
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383
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384
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385
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386
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387
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388
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389
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390
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391
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392
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393
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394
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395
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396
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397
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398
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399
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_3" name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
400
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_4" name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
401
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402
+ <pair geom1="right_ring_intermediate_collision" geom2="right_object_6" name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
403
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404
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405
+ <pair geom1="right_ring_collision" geom2="right_object_1" name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
406
+ <pair geom1="right_ring_collision" geom2="right_object_2" name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
407
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408
+ <pair geom1="right_ring_collision" geom2="right_object_4" name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
409
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410
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411
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412
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413
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414
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_2" name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
415
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_3" name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
416
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_4" name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
417
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_5" name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
418
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_6" name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
419
+ <pair geom1="right_thumb_proximal_collision" geom2="right_object_7" name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
420
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_0" name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
421
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_1" name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
422
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_2" name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
423
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_3" name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
424
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_4" name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
425
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_5" name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
426
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_6" name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
427
+ <pair geom1="right_thumb_intermediate_collision" geom2="right_object_7" name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
428
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_0" name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
429
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_1" name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
430
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_2" name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
431
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_3" name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
432
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_4" name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
433
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_5" name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
434
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_6" name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
435
+ <pair geom1="right_thumb_distal_collision" geom2="right_object_7" name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
436
+ <pair geom1="right_thumb_collision" geom2="right_object_0" name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
437
+ <pair geom1="right_thumb_collision" geom2="right_object_1" name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
438
+ <pair geom1="right_thumb_collision" geom2="right_object_2" name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
439
+ <pair geom1="right_thumb_collision" geom2="right_object_3" name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
440
+ <pair geom1="right_thumb_collision" geom2="right_object_4" name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
441
+ <pair geom1="right_thumb_collision" geom2="right_object_5" name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
442
+ <pair geom1="right_thumb_collision" geom2="right_object_6" name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
443
+ <pair geom1="right_thumb_collision" geom2="right_object_7" name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
444
  </contact>
445
 
446
  <equality>
447
+ <connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
448
+ <connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
449
+ <connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
450
+ <connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
451
+ <connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
452
+ <connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
453
+ <connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
454
+ <connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
 
 
 
 
 
 
 
 
455
  </equality>
456
 
457
  <actuator>
458
+ <general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
459
+ <general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
460
+ <general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
461
+ <general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
462
+ <general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
463
+ <general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
464
+ <general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
465
+ <general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
466
+ <general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
467
+ <general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
468
+ <general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
469
+ <general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
470
+ <general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
471
+ <general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
472
+ <general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
473
+ <general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
474
+ <general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
475
+ <general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
476
+ <general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
477
+ <general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
478
+ <general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
479
+ <general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
480
  </actuator>
481
+ </mujoco>
processed/fair_mon/metahand/right/coke/0/trajectory_kinematic.npz CHANGED
@@ -1,3 +1,3 @@
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  size 14788
 
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  size 14788
processed/fair_mon/metahand/right/coke/0/trajectory_mjwp.npz CHANGED
@@ -1,3 +1,3 @@
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  size 134298
 
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  size 134298
processed/fair_mon/metahand/right/coke/0/visualization_mjwp.mp4 CHANGED
@@ -1,3 +1,3 @@
1
  version https://git-lfs.github.com/spec/v1
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- oid sha256:13dd5c68d98ba97b9ac81b13f3a1ca931965048bc2627a3fb0aaf1e8bce2e834
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- size 192387
 
1
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+ size 186068
processed/fair_mon/metahand/right/coke/scene.xml CHANGED
@@ -16,9 +16,9 @@
16
  <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
17
  </default>
18
  <default class="metahand_right">
19
- <joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2" frictionloss="0.02"/>
20
  <geom density="800"/>
21
- <general biastype="affine" gainprm="3" biasprm="0 -3"/>
22
  <default class="right_visual">
23
  <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
24
  <default class="right_palm_visual">
@@ -78,12 +78,12 @@
78
  </default>
79
  </default>
80
  <default class="right_base_slide">
81
- <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
82
- <general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
83
  </default>
84
  <default class="right_base_hinge">
85
- <joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
86
- <general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
87
  </default>
88
  <default class="right_base">
89
  <joint range="-0.47 0.47"/>
@@ -275,7 +275,7 @@
275
  </body>
276
  </body>
277
  <body name="right_object">
278
- <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
279
  <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
280
  <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
281
  <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
@@ -287,10 +287,10 @@
287
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
288
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
289
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
290
- <site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
291
- <site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
292
- <site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
293
- <site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
294
  </body>
295
  <body name="ref_object_right_thumb_tip" mocap="true">
296
  <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
 
16
  <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
17
  </default>
18
  <default class="metahand_right">
19
+ <joint armature="1"/>
20
  <geom density="800"/>
21
+ <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
22
  <default class="right_visual">
23
  <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
24
  <default class="right_palm_visual">
 
78
  </default>
79
  </default>
80
  <default class="right_base_slide">
81
+ <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000"/>
82
+ <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
83
  </default>
84
  <default class="right_base_hinge">
85
+ <joint range="-6.28 6.28" actuatorfrcrange="-1000 1000"/>
86
+ <general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
87
  </default>
88
  <default class="right_base">
89
  <joint range="-0.47 0.47"/>
 
275
  </body>
276
  </body>
277
  <body name="right_object">
278
+ <joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
279
  <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
280
  <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
281
  <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
 
287
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
288
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
289
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
290
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291
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292
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293
+ <site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" size="0.01" group="4" rgba="0 1 0 1"/>
294
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295
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296
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processed/fair_mon/metahand/right/coke/scene_eq.xml CHANGED
@@ -16,9 +16,9 @@
16
  <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
17
  </default>
18
  <default class="metahand_right">
19
- <joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2" frictionloss="0.02"/>
20
  <geom density="800"/>
21
- <general biastype="affine" gainprm="3" biasprm="0 -3"/>
22
  <default class="right_visual">
23
  <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
24
  <default class="right_palm_visual">
@@ -78,12 +78,12 @@
78
  </default>
79
  </default>
80
  <default class="right_base_slide">
81
- <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
82
- <general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
83
  </default>
84
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85
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86
- <general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
87
  </default>
88
  <default class="right_base">
89
  <joint range="-0.47 0.47"/>
@@ -275,7 +275,7 @@
275
  </body>
276
  </body>
277
  <body name="right_object">
278
- <joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
279
  <geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
280
  <geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
281
  <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
@@ -287,10 +287,10 @@
287
  <geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
288
  <site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
289
  <site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
290
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291
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292
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293
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294
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295
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296
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16
  <site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
17
  </default>
18
  <default class="metahand_right">
19
+ <joint armature="1"/>
20
  <geom density="800"/>
21
+ <general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
22
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23
  <geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
24
  <default class="right_palm_visual">
 
78
  </default>
79
  </default>
80
  <default class="right_base_slide">
81
+ <joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000"/>
82
+ <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
83
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84
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85
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86
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87
  </default>
88
  <default class="right_base">
89
  <joint range="-0.47 0.47"/>
 
275
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276
  </body>
277
  <body name="right_object">
278
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279
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280
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281
  <geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
 
287
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288
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289
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290
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291
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292
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293
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294
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295
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296
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processed/gigahand/allegro/bimanual/p36-tea/scene.xml CHANGED
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82
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83
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84
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85
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86
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87
  <joint range="-6.28 6.28"/>
88
- <general ctrlrange="-6.28 6.28"/>
89
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90
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91
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@@ -189,11 +189,11 @@
189
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190
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191
  <joint type="slide" range="-3 3"/>
192
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193
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194
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195
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196
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197
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198
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199
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@@ -535,14 +535,14 @@
535
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536
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537
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538
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541
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542
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544
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545
- <site name="track_object_left_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
546
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547
  <body name="ref_object_right_thumb_tip" mocap="true">
548
  <site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
 
81
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82
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83
  <joint type="slide" range="-3 3"/>
84
+ <general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
85
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86
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87
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88
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89
  </default>
90
  <default class="right_base">
91
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189
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190
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191
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192
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193
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194
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195
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196
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197
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198
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199
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535
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536
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537
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543
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548
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processed/gigahand/allegro/bimanual/p36-tea/scene_eq.xml CHANGED
The diff for this file is too large to render. See raw diff
 
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8
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9
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10
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6
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7
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8
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10
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11
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  f 1 2 3
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  # https://github.com/mikedh/trimesh
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33
- v 0.49609440 0.37643417 0.30121460
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  f 1 2 3
35
  f 1 3 4
36
  f 1 4 5
 
1
  # https://github.com/mikedh/trimesh
2
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34
  f 1 2 3
35
  f 1 3 4
36
  f 1 4 5
processed/gigahand/assets/objects/p36-tea/convex/2.obj CHANGED
@@ -1,36 +1,36 @@
1
  # https://github.com/mikedh/trimesh
2
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3
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- v 0.43133883 0.33588819 0.38028233
34
  f 1 2 3
35
  f 1 3 4
36
  f 1 4 5
 
1
  # https://github.com/mikedh/trimesh
2
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3
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4
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  f 1 2 3
35
  f 1 3 4
36
  f 1 4 5
processed/gigahand/assets/objects/p36-tea/convex/3.obj CHANGED
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1
  # https://github.com/mikedh/trimesh
2
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3
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39
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40
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- f 29 32 30
 
93
  f 30 32 31
94
 
 
1
  # https://github.com/mikedh/trimesh
2
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39
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40
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41
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  f 30 32 31
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processed/gigahand/assets/objects/p36-tea/convex/4.obj CHANGED
@@ -1,94 +1,94 @@
1
  # https://github.com/mikedh/trimesh
2
- v 0.60969772 0.41198227 0.30521849
3
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- f 1 2 3
 
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36
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37
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38
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39
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90
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  f 30 32 31
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1
  # https://github.com/mikedh/trimesh
2
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67
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processed/gigahand/assets/objects/p36-tea/convex/5.obj CHANGED
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1
  # https://github.com/mikedh/trimesh
2
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94
 
 
1
  # https://github.com/mikedh/trimesh
2
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82
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94
 
processed/gigahand/assets/objects/p36-tea/convex/6.obj CHANGED
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1
  # https://github.com/mikedh/trimesh
2
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89
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94
 
 
1
  # https://github.com/mikedh/trimesh
2
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77
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87
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94
 
processed/gigahand/assets/objects/p36-tea/convex/7.obj CHANGED
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1
  # https://github.com/mikedh/trimesh
2
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79
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94
 
 
1
  # https://github.com/mikedh/trimesh
2
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1
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processed/oakink/assets/objects/O02@0011@00003/convex/5.obj CHANGED
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91
 
 
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  # https://github.com/mikedh/trimesh
2
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processed/oakink/assets/objects/O02@0011@00003/convex/6.obj CHANGED
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1
  # https://github.com/mikedh/trimesh
2
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81
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94
 
processed/oakink/assets/objects/O02@0011@00003/convex/7.obj CHANGED
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1
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2
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1
  # https://github.com/mikedh/trimesh
2
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+ v 0.03118024 -0.01006046 -0.04768964
21
+ v 0.02802694 -0.01821176 -0.04756562
22
+ v 0.02757095 -0.02288439 -0.04385443
23
+ v 0.02633363 -0.02544971 -0.04115452
24
+ v 0.03222022 -0.01685365 -0.03349365
25
+ v 0.03442286 -0.01506667 0.04792341
26
+ v 0.03108424 -0.01801056 -0.04199407
27
+ v 0.03303888 -0.01441012 -0.03884577
28
+ v 0.03508285 -0.00655268 -0.03398975
29
+ v 0.03524685 -0.00278015 -0.03730024
30
+ v 0.03434819 -0.01015312 -0.03862634
31
+ v 0.03320954 -0.00359555 -0.04603917
32
+ v 0.03383620 -0.00856204 -0.04334880
33
+ v 0.03145623 -0.01457161 -0.04537135
34
  f 1 2 3
35
  f 1 3 4
36
  f 1 4 5
37
  f 1 5 6
38
  f 1 6 7
39
+ f 1 7 8
40
+ f 1 8 2
 
41
  f 2 9 3
42
+ f 2 8 10
43
+ f 2 10 11
44
+ f 2 11 9
45
+ f 3 9 12
46
+ f 3 12 13
47
+ f 3 13 14
48
+ f 3 14 15
49
+ f 3 15 16
50
+ f 3 16 17
51
+ f 3 17 4
52
+ f 4 17 18
53
+ f 4 18 5
54
+ f 5 18 6
55
+ f 6 18 19
56
+ f 6 19 20
57
+ f 6 20 21
58
+ f 6 21 7
59
+ f 7 21 22
60
+ f 7 22 8
61
+ f 8 22 10
62
+ f 9 23 24
63
+ f 9 24 12
64
+ f 9 11 23
65
+ f 10 22 11
66
+ f 11 22 21
67
+ f 11 21 25
68
+ f 11 25 26
69
+ f 11 26 23
70
+ f 12 27 28
71
+ f 12 28 13
72
+ f 12 24 26
73
+ f 12 26 29
74
+ f 12 29 27
75
+ f 13 28 18
76
+ f 13 18 17
77
+ f 13 17 16
78
+ f 13 16 15
79
+ f 13 15 14
80
+ f 18 28 30
 
 
81
  f 18 30 19
82
+ f 19 30 31
83
+ f 19 31 32
84
+ f 19 32 20
85
+ f 20 32 21
86
+ f 21 32 25
87
+ f 23 26 24
88
+ f 25 32 26
89
+ f 26 32 31
90
+ f 26 31 29
91
+ f 27 29 28
92
+ f 28 29 31
93
+ f 28 31 30
94