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RoboVerseOrg
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roboverse_data

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Robotics
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wyzhgxy commited on
Commit
233a219
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1 Parent(s): 6eb6abb

simplify shadow hand asset

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Files changed (2) hide show
  1. robots/shadow_hand/mjcf/{shadow_hand_right.xml → shadow_hand.xml} +0 -0
  2. robots/shadow_hand/mjcf/shadow_hand_left.xml +0 -319
robots/shadow_hand/mjcf/{shadow_hand_right.xml → shadow_hand.xml} RENAMED
File without changes
robots/shadow_hand/mjcf/shadow_hand_left.xml DELETED
@@ -1,319 +0,0 @@
1
- <?xml version="1.0" encoding="utf-8"?>
2
- <mujoco>
3
- <compiler angle="radian" coordinate="local" meshdir="../stls" texturedir="../textures"></compiler>
4
- <option timestep="0.002" iterations="20" apirate="200">
5
- <flag warmstart="enable"></flag>
6
- </option>
7
-
8
- <size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size>
9
-
10
- <visual>
11
- <map fogstart="3" fogend="5" force="0.1"></map>
12
- <quality shadowsize="4096"></quality>
13
- </visual>
14
-
15
- <default>
16
- <default class="robot1_asset_class">
17
- <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
18
- <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
19
- <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
20
- <general ctrllimited="true" forcelimited="true"></general>
21
- </default>
22
- <default class="robot1_D_Touch">
23
- <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
24
- </default>
25
- <default class="robot1_DC_Hand">
26
- <geom material="robot1_MatColl" contype="1" conaffinity="0" group="4"></geom>
27
- </default>
28
- <default class="robot1_D_Vizual">
29
- <geom material="robot1_MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
30
- </default>
31
- <default class="robot1_free">
32
- <joint type="free" damping="0" armature="0" limited="false"></joint>
33
- </default>
34
- </default>
35
-
36
- <contact>
37
- <pair geom1="robot1_C_ffdistal" geom2="robot1_C_thdistal" condim="1"></pair>
38
- <pair geom1="robot1_C_ffmiddle" geom2="robot1_C_thdistal" condim="1"></pair>
39
- <pair geom1="robot1_C_ffproximal" geom2="robot1_C_thdistal" condim="1"></pair>
40
- <pair geom1="robot1_C_mfproximal" geom2="robot1_C_thdistal" condim="1"></pair>
41
- <pair geom1="robot1_C_mfdistal" geom2="robot1_C_thdistal" condim="1"></pair>
42
- <pair geom1="robot1_C_rfdistal" geom2="robot1_C_thdistal" condim="1"></pair>
43
- <pair geom1="robot1_C_lfdistal" geom2="robot1_C_thdistal" condim="1"></pair>
44
- <pair geom1="robot1_C_palm0" geom2="robot1_C_thdistal" condim="1"></pair>
45
- <pair geom1="robot1_C_mfdistal" geom2="robot1_C_ffdistal" condim="1"></pair>
46
- <pair geom1="robot1_C_rfdistal" geom2="robot1_C_mfdistal" condim="1"></pair>
47
- <pair geom1="robot1_C_lfdistal" geom2="robot1_C_rfdistal" condim="1"></pair>
48
- <pair geom1="robot1_C_mfproximal" geom2="robot1_C_ffproximal" condim="1"></pair>
49
- <pair geom1="robot1_C_rfproximal" geom2="robot1_C_mfproximal" condim="1"></pair>
50
- <pair geom1="robot1_C_lfproximal" geom2="robot1_C_rfproximal" condim="1"></pair>
51
- <pair geom1="robot1_C_lfdistal" geom2="robot1_C_rfdistal" condim="1"></pair>
52
- <pair geom1="robot1_C_lfdistal" geom2="robot1_C_mfdistal" condim="1"></pair>
53
- <pair geom1="robot1_C_lfdistal" geom2="robot1_C_rfmiddle" condim="1"></pair>
54
- <pair geom1="robot1_C_lfmiddle" geom2="robot1_C_rfdistal" condim="1"></pair>
55
- <pair geom1="robot1_C_lfmiddle" geom2="robot1_C_rfmiddle" condim="1"></pair>
56
- </contact>
57
-
58
- <tendon>
59
- <fixed name="robot1_T_FFJ1c" limited="true" range="-0.001 0.001">
60
- <joint joint="robot1_FFJ0" coef="0.00705"></joint>
61
- <joint joint="robot1_FFJ1" coef="-0.00805"></joint>
62
- </fixed>
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- <fixed name="robot1_T_MFJ1c" limited="true" range="-0.001 0.001">
64
- <joint joint="robot1_MFJ0" coef="0.00705"></joint>
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- <joint joint="robot1_MFJ1" coef="-0.00805"></joint>
66
- </fixed>
67
- <fixed name="robot1_T_RFJ1c" limited="true" range="-0.001 0.001">
68
- <joint joint="robot1_RFJ0" coef="0.00705"></joint>
69
- <joint joint="robot1_RFJ1" coef="-0.00805"></joint>
70
- </fixed>
71
- <fixed name="robot1_T_LFJ1c" limited="true" range="-0.001 0.001">
72
- <joint joint="robot1_LFJ0" coef="0.00705"></joint>
73
- <joint joint="robot1_LFJ1" coef="-0.00805"></joint>
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- </fixed>
75
- </tendon>
76
-
77
- <sensor>
78
- <jointpos name="robot1_Sjp_WRJ1" joint="robot1_WRJ1"></jointpos>
79
- <jointpos name="robot1_Sjp_WRJ0" joint="robot1_WRJ0"></jointpos>
80
- <jointpos name="robot1_Sjp_FFJ3" joint="robot1_FFJ3"></jointpos>
81
- <jointpos name="robot1_Sjp_FFJ2" joint="robot1_FFJ2"></jointpos>
82
- <jointpos name="robot1_Sjp_FFJ1" joint="robot1_FFJ1"></jointpos>
83
- <jointpos name="robot1_Sjp_FFJ0" joint="robot1_FFJ0"></jointpos>
84
- <jointpos name="robot1_Sjp_MFJ3" joint="robot1_MFJ3"></jointpos>
85
- <jointpos name="robot1_Sjp_MFJ2" joint="robot1_MFJ2"></jointpos>
86
- <jointpos name="robot1_Sjp_MFJ1" joint="robot1_MFJ1"></jointpos>
87
- <jointpos name="robot1_Sjp_MFJ0" joint="robot1_MFJ0"></jointpos>
88
- <jointpos name="robot1_Sjp_RFJ3" joint="robot1_RFJ3"></jointpos>
89
- <jointpos name="robot1_Sjp_RFJ2" joint="robot1_RFJ2"></jointpos>
90
- <jointpos name="robot1_Sjp_RFJ1" joint="robot1_RFJ1"></jointpos>
91
- <jointpos name="robot1_Sjp_RFJ0" joint="robot1_RFJ0"></jointpos>
92
- <jointpos name="robot1_Sjp_LFJ4" joint="robot1_LFJ4"></jointpos>
93
- <jointpos name="robot1_Sjp_LFJ3" joint="robot1_LFJ3"></jointpos>
94
- <jointpos name="robot1_Sjp_LFJ2" joint="robot1_LFJ2"></jointpos>
95
- <jointpos name="robot1_Sjp_LFJ1" joint="robot1_LFJ1"></jointpos>
96
- <jointpos name="robot1_Sjp_LFJ0" joint="robot1_LFJ0"></jointpos>
97
- <jointpos name="robot1_Sjp_THJ4" joint="robot1_THJ4"></jointpos>
98
- <jointpos name="robot1_Sjp_THJ3" joint="robot1_THJ3"></jointpos>
99
- <jointpos name="robot1_Sjp_THJ2" joint="robot1_THJ2"></jointpos>
100
- <jointpos name="robot1_Sjp_THJ1" joint="robot1_THJ1"></jointpos>
101
- <jointpos name="robot1_Sjp_THJ0" joint="robot1_THJ0"></jointpos>
102
- <touch name="robot1_ST_Tch_fftip" site="robot1_Tch_fftip"></touch>
103
- <touch name="robot1_ST_Tch_mftip" site="robot1_Tch_mftip"></touch>
104
- <touch name="robot1_ST_Tch_rftip" site="robot1_Tch_rftip"></touch>
105
- <touch name="robot1_ST_Tch_lftip" site="robot1_Tch_lftip"></touch>
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- <touch name="robot1_ST_Tch_thtip" site="robot1_Tch_thtip"></touch>
107
- </sensor>
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-
109
- <actuator>
110
- <position name="robot1_WRJ1" class="robot1_asset_class" user="2038" joint="robot1_WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>
111
- <position name="robot1_WRJ0" class="robot1_asset_class" user="2036" joint="robot1_WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>
112
- <position name="robot1_FFJ3" class="robot1_asset_class" user="2004" joint="robot1_FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
113
- <position name="robot1_FFJ2" class="robot1_asset_class" user="2002" joint="robot1_FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
114
- <position name="robot1_FFJ1" class="robot1_asset_class" user="2000" joint="robot1_FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
115
- <position name="robot1_MFJ3" class="robot1_asset_class" user="2010" joint="robot1_MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
116
- <position name="robot1_MFJ2" class="robot1_asset_class" user="2008" joint="robot1_MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
117
- <position name="robot1_MFJ1" class="robot1_asset_class" user="2006" joint="robot1_MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
118
- <position name="robot1_RFJ3" class="robot1_asset_class" user="2016" joint="robot1_RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
119
- <position name="robot1_RFJ2" class="robot1_asset_class" user="2014" joint="robot1_RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
120
- <position name="robot1_RFJ1" class="robot1_asset_class" user="2012" joint="robot1_RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
121
- <position name="robot1_LFJ4" class="robot1_asset_class" user="2024" joint="robot1_LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>
122
- <position name="robot1_LFJ3" class="robot1_asset_class" user="2022" joint="robot1_LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
123
- <position name="robot1_LFJ2" class="robot1_asset_class" user="2020" joint="robot1_LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
124
- <position name="robot1_LFJ1" class="robot1_asset_class" user="2018" joint="robot1_LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
125
- <position name="robot1_THJ4" class="robot1_asset_class" user="2034" joint="robot1_THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>
126
- <position name="robot1_THJ3" class="robot1_asset_class" user="2032" joint="robot1_THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>
127
- <position name="robot1_THJ2" class="robot1_asset_class" user="2030" joint="robot1_THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>
128
- <position name="robot1_THJ1" class="robot1_asset_class" user="2028" joint="robot1_THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>
129
- <position name="robot1_THJ0" class="robot1_asset_class" user="2026" joint="robot1_THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position>
130
- </actuator>
131
-
132
- <asset>
133
- <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
134
-
135
- <texture name="robot1_texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture>
136
- <texture name="robot1_texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture>
137
-
138
- <material name="robot1_MatGnd" reflectance="0.5" texture="robot1_texplane" texrepeat="1 1" texuniform="true"></material>
139
- <material name="robot1_MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material>
140
- <material name="robot1_MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material>
141
- <material name="robot1_object" texture="robot1_texgeom" texuniform="false"></material>
142
- <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material>
143
-
144
- <mesh name="robot1_forearm" file="forearm_electric.stl"></mesh>
145
- <mesh name="robot1_forearm_cvx" file="forearm_electric_cvx.stl"></mesh>
146
- <mesh name="robot1_wrist" scale="0.001 0.001 0.001" file="wrist.stl"></mesh>
147
- <mesh name="robot1_palm" scale="0.001 0.001 0.001" file="palm.stl"></mesh>
148
- <mesh name="robot1_knuckle" scale="0.001 0.001 0.001" file="knuckle.stl"></mesh>
149
- <mesh name="robot1_F3" scale="0.001 0.001 0.001" file="F3.stl"></mesh>
150
- <mesh name="robot1_F2" scale="0.001 0.001 0.001" file="F2.stl"></mesh>
151
- <mesh name="robot1_F1" scale="0.001 0.001 0.001" file="F1.stl"></mesh>
152
- <mesh name="robot1_lfmetacarpal" scale="0.001 0.001 0.001" file="lfmetacarpal.stl"></mesh>
153
- <mesh name="robot1_TH3_z" scale="0.001 0.001 0.001" file="TH3_z.stl"></mesh>
154
- <mesh name="robot1_TH2_z" scale="0.001 0.001 0.001" file="TH2_z.stl"></mesh>
155
- <mesh name="robot1_TH1_z" scale="0.001 0.001 0.001" file="TH1_z.stl"></mesh>
156
- </asset>
157
-
158
- <worldbody>
159
- <body name="robot1_hand mount" pos="1 1.25 0.15" euler="1.5708 0 3.14159">
160
- <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
161
- <body childclass="robot1_asset_class" name="robot1_forearm" pos="0 0.01 0" euler="0 0 0">
162
- <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
163
- <geom class="robot1_D_Vizual" pos="0 0.01 0.04" name="robot1_V_forearm" mesh="robot1_forearm" euler="0 0 1.57"></geom>
164
- <geom class="robot1_DC_Hand" name="robot1_C_forearm" type="mesh" mesh="robot1_forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
165
- <body name="robot1_wrist" pos="0 0 0.256">
166
- <inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
167
- <joint name="robot1_WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005" user="1123"></joint>
168
- <geom class="robot1_D_Vizual" name="robot1_V_wrist" mesh="robot1_wrist"></geom>
169
- <geom class="robot1_DC_Hand" name="robot1_C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
170
- <body name="robot1_palm" pos="0 0 0.034">
171
- <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
172
- <joint name="robot1_WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005" user="1122"></joint>
173
- <geom class="robot1_D_Vizual" name="robot1_V_palm" mesh="robot1_palm"></geom>
174
- <geom class="robot1_DC_Hand" name="robot1_C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
175
- <geom class="robot1_DC_Hand" name="robot1_C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
176
- <body name="robot1_ffknuckle" pos="0.033 0 0.095">
177
- <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
178
- <joint name="robot1_FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
179
- <geom class="robot1_D_Vizual" name="robot1_V_ffknuckle" mesh="robot1_knuckle"></geom>
180
- <body name="robot1_ffproximal" pos="0 0 0">
181
- <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
182
- <joint name="robot1_FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
183
- <geom class="robot1_D_Vizual" name="robot1_V_ffproximal" mesh="robot1_F3"></geom>
184
- <geom class="robot1_DC_Hand" name="robot1_C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
185
- <body name="robot1_ffmiddle" pos="0 0 0.045">
186
- <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
187
- <joint name="robot1_FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
188
- <geom class="robot1_D_Vizual" name="robot1_V_ffmiddle" mesh="robot1_F2"></geom>
189
- <geom class="robot1_DC_Hand" name="robot1_C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
190
- <body name="robot1_ffdistal" pos="0 0 0.025">
191
- <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
192
- <joint name="robot1_FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
193
- <geom class="robot1_D_Vizual" name="robot1_V_ffdistal" pos="0 0 0.001" mesh="robot1_F1"></geom>
194
- <geom class="robot1_DC_Hand" name="robot1_C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
195
- <site name="robot1_S_fftip" pos="0 0 0.026" group="3"></site>
196
- <site class="robot1_D_Touch" name="robot1_Tch_fftip"></site>
197
- </body>
198
- </body>
199
- </body>
200
- </body>
201
- <body name="robot1_mfknuckle" pos="0.011 0 0.099">
202
- <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
203
- <joint name="robot1_MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
204
- <geom class="robot1_D_Vizual" name="robot1_V_mfknuckle" mesh="robot1_knuckle"></geom>
205
- <body name="robot1_mfproximal" pos="0 0 0">
206
- <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
207
- <joint name="robot1_MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
208
- <geom class="robot1_D_Vizual" name="robot1_V_mfproximal" mesh="robot1_F3"></geom>
209
- <geom class="robot1_DC_Hand" name="robot1_C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
210
- <body name="robot1_mfmiddle" pos="0 0 0.045">
211
- <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
212
- <joint name="robot1_MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
213
- <geom class="robot1_D_Vizual" name="robot1_V_mfmiddle" mesh="robot1_F2"></geom>
214
- <geom class="robot1_DC_Hand" name="robot1_C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
215
- <body name="robot1_mfdistal" pos="0 0 0.025">
216
- <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
217
- <joint name="robot1_MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
218
- <geom class="robot1_D_Vizual" name="robot1_V_mfdistal" mesh="robot1_F1"></geom>
219
- <geom class="robot1_DC_Hand" name="robot1_C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
220
- <site name="robot1_S_mftip" pos="0 0 0.026" group="3"></site>
221
- <site class="robot1_D_Touch" name="robot1_Tch_mftip"></site>
222
- </body>
223
- </body>
224
- </body>
225
- </body>
226
- <body name="robot1_rfknuckle" pos="-0.011 0 0.095">
227
- <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
228
- <joint name="robot1_RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
229
- <geom class="robot1_D_Vizual" name="robot1_V_rfknuckle" mesh="robot1_knuckle"></geom>
230
- <body name="robot1_rfproximal" pos="0 0 0">
231
- <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
232
- <joint name="robot1_RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
233
- <geom class="robot1_D_Vizual" name="robot1_V_rfproximal" mesh="robot1_F3"></geom>
234
- <geom class="robot1_DC_Hand" name="robot1_C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
235
- <body name="robot1_rfmiddle" pos="0 0 0.045">
236
- <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
237
- <joint name="robot1_RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
238
- <geom class="robot1_D_Vizual" name="robot1_V_rfmiddle" mesh="robot1_F2"></geom>
239
- <geom class="robot1_DC_Hand" name="robot1_C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
240
- <body name="robot1_rfdistal" pos="0 0 0.025">
241
- <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
242
- <joint name="robot1_RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
243
- <geom class="robot1_D_Vizual" name="robot1_V_rfdistal" mesh="robot1_F1" pos="0 0 0.001"></geom>
244
- <geom class="robot1_DC_Hand" name="robot1_C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
245
- <site name="robot1_S_rftip" pos="0 0 0.026" group="3"></site>
246
- <site class="robot1_D_Touch" name="robot1_Tch_rftip"></site>
247
- </body>
248
- </body>
249
- </body>
250
- </body>
251
- <body name="robot1_lfmetacarpal" pos="-0.017 0 0.044">
252
- <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
253
- <joint name="robot1_LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
254
- <geom class="robot1_D_Vizual" name="robot1_V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot1_lfmetacarpal"></geom>
255
- <geom class="robot1_DC_Hand" name="robot1_C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
256
- <body name="robot1_lfknuckle" pos="-0.017 0 0.044">
257
- <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
258
- <joint name="robot1_LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
259
- <geom class="robot1_D_Vizual" name="robot1_V_lfknuckle" mesh="robot1_knuckle"></geom>
260
- <body name="robot1_lfproximal" pos="0 0 0">
261
- <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
262
- <joint name="robot1_LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
263
- <geom class="robot1_D_Vizual" name="robot1_V_lfproximal" mesh="robot1_F3"></geom>
264
- <geom class="robot1_DC_Hand" name="robot1_C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
265
- <body name="robot1_lfmiddle" pos="0 0 0.045">
266
- <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
267
- <joint name="robot1_LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
268
- <geom class="robot1_D_Vizual" name="robot1_V_lfmiddle" mesh="robot1_F2"></geom>
269
- <geom class="robot1_DC_Hand" name="robot1_C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
270
- <body name="robot1_lfdistal" pos="0 0 0.025">
271
- <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
272
- <joint name="robot1_LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
273
- <geom class="robot1_D_Vizual" name="robot1_V_lfdistal" mesh="robot1_F1" pos="0 0 0.001"></geom>
274
- <geom class="robot1_DC_Hand" name="robot1_C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
275
- <site name="robot1_S_lftip" pos="0 0 0.026" group="3"></site>
276
- <site class="robot1_D_Touch" name="robot1_Tch_lftip"></site>
277
- </body>
278
- </body>
279
- </body>
280
- </body>
281
- </body>
282
- <body name="robot1_thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
283
- <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
284
- <joint name="robot1_THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
285
- <geom name="robot1_V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
286
- <body name="robot1_thproximal" pos="0 0 0">
287
- <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
288
- <joint name="robot1_THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
289
- <geom class="robot1_D_Vizual" name="robot1_V_thproximal" mesh="robot1_TH3_z"></geom>
290
- <geom class="robot1_DC_Hand" name="robot1_C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
291
- <body name="robot1_thhub" pos="0 0 0.038">
292
- <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
293
- <joint name="robot1_THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
294
- <geom name="robot1_V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
295
- <body name="robot1_thmiddle" pos="0 0 0">
296
- <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
297
- <joint name="robot1_THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
298
- <geom class="robot1_D_Vizual" name="robot1_V_thmiddle" mesh="robot1_TH2_z"></geom>
299
- <geom class="robot1_DC_Hand" name="robot1_C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
300
- <body name="robot1_thdistal" pos="0 0 0.032">
301
- <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
302
- <joint name="robot1_THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
303
- <geom class="robot1_D_Vizual" name="robot1_V_thdistal" mesh="robot1_TH1_z"></geom>
304
- <geom class="robot1_DC_Hand" name="robot1_C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
305
- <site name="robot1_S_thtip" pos="0 0 0.0275" group="3"></site>
306
- <site class="robot1_D_Touch" name="robot1_Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
307
- </body>
308
- </body>
309
- </body>
310
- </body>
311
- </body>
312
- </body>
313
- </body>
314
- </body>
315
- </body>
316
-
317
- <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>
318
- </worldbody>
319
- </mujoco>