open ai assets for bidex
#19
by
wyzhgxy
- opened
- assets/bidex/open_ai_assets/LICENSE.md +222 -0
- assets/bidex/open_ai_assets/README.md +1 -0
- assets/bidex/open_ai_assets/mjcf/fetch/pick_and_place.xml +35 -0
- assets/bidex/open_ai_assets/mjcf/fetch/push.xml +32 -0
- assets/bidex/open_ai_assets/mjcf/fetch/reach.xml +26 -0
- assets/bidex/open_ai_assets/mjcf/fetch/robot.xml +123 -0
- assets/bidex/open_ai_assets/mjcf/fetch/shared.xml +66 -0
- assets/bidex/open_ai_assets/mjcf/fetch/slide.xml +32 -0
- assets/bidex/open_ai_assets/mjcf/hand/egg.xml +17 -0
- assets/bidex/open_ai_assets/mjcf/hand/manipulate_block.xml +41 -0
- assets/bidex/open_ai_assets/mjcf/hand/manipulate_block_touch_sensors.xml +42 -0
- assets/bidex/open_ai_assets/mjcf/hand/manipulate_egg.xml +41 -0
- assets/bidex/open_ai_assets/mjcf/hand/manipulate_egg_touch_sensors.xml +42 -0
- assets/bidex/open_ai_assets/mjcf/hand/manipulate_pen.xml +40 -0
- assets/bidex/open_ai_assets/mjcf/hand/manipulate_pen_touch_sensors.xml +41 -0
- assets/bidex/open_ai_assets/mjcf/hand/pen.xml +28 -0
- assets/bidex/open_ai_assets/mjcf/hand/reach.xml +34 -0
- assets/bidex/open_ai_assets/mjcf/hand/robot_touch_sensors_92.xml +252 -0
- assets/bidex/open_ai_assets/mjcf/hand/shared_touch_sensors_92.xml +120 -0
- assets/bidex/open_ai_assets/mjcf/stls/.get +0 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/base_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/bellows_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/elbow_flex_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/estop_link.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/forearm_roll_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/gripper_link.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/head_pan_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/head_tilt_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/l_wheel_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/laser_link.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/r_wheel_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/shoulder_lift_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/shoulder_pan_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/torso_fixed_link.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/torso_lift_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/upperarm_roll_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/wrist_flex_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/stls/fetch/wrist_roll_link_collision.stl +3 -0
- assets/bidex/open_ai_assets/mjcf/textures/block.png +3 -0
- assets/bidex/open_ai_assets/mjcf/textures/block_hidden.png +3 -0
assets/bidex/open_ai_assets/LICENSE.md
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| 1 |
+
# Fetch Robotics
|
| 2 |
+
The model of the [Fetch](http://fetchrobotics.com/platforms-research-development/) is based on [models provided by Fetch](https://github.com/fetchrobotics/fetch_ros/tree/indigo-devel/fetch_description). It was adapted and refined by OpenAI.
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+
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+
# ShadowHand
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+
The model of the [ShadowHand](https://www.shadowrobot.com/products/dexterous-hand/) is based on [models provided by ShadowRobot](https://github.com/shadow-robot/sr_common/tree/kinetic-devel/sr_description/hand/model), and on code used under the following license:
|
| 6 |
+
|
| 7 |
+
(C) Vikash Kumar, CSE, UW. Licensed under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0. Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
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Apache License
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|
| 200 |
+
you may not use this file except in compliance with the License.
|
| 201 |
+
You may obtain a copy of the License at
|
| 202 |
+
|
| 203 |
+
http://www.apache.org/licenses/LICENSE-2.0
|
| 204 |
+
|
| 205 |
+
Unless required by applicable law or agreed to in writing, software
|
| 206 |
+
distributed under the License is distributed on an "AS IS" BASIS,
|
| 207 |
+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
| 208 |
+
See the License for the specific language governing permissions and
|
| 209 |
+
limitations under the License.
|
| 210 |
+
|
| 211 |
+
Additional license notices:
|
| 212 |
+
|
| 213 |
+
Sources : 1) Manipulator and Manipulation in High Dimensional Spaces. Vikash Kumar, Ph.D. Thesis, CSE, Univ. of Washington. 2016.
|
| 214 |
+
|
| 215 |
+
Mujoco :: Advanced physics simulation engine
|
| 216 |
+
Source : www.roboti.us
|
| 217 |
+
Version : 1.40
|
| 218 |
+
Released : 17Jan'17
|
| 219 |
+
|
| 220 |
+
Author :: Vikash Kumar
|
| 221 |
+
Contacts : [email protected]
|
| 222 |
+
Last edits : 3Apr'17
|
assets/bidex/open_ai_assets/README.md
ADDED
|
@@ -0,0 +1 @@
|
|
|
|
|
|
|
| 1 |
+
All asset and LICENSE.md copied from repo: https://github.com/isaac-sim/IsaacGymEnvs/tree/main/assets/mjcf/open_ai_assets
|
assets/bidex/open_ai_assets/mjcf/fetch/pick_and_place.xml
ADDED
|
@@ -0,0 +1,35 @@
|
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|
|
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|
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|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<worldbody>
|
| 11 |
+
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 12 |
+
<body name="floor0" pos="0.8 0.75 0">
|
| 13 |
+
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 14 |
+
</body>
|
| 15 |
+
|
| 16 |
+
<include file="robot.xml"></include>
|
| 17 |
+
|
| 18 |
+
<body pos="1.3 0.75 0.2" name="table0">
|
| 19 |
+
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
|
| 20 |
+
</body>
|
| 21 |
+
|
| 22 |
+
<body name="object0" pos="0.025 0.025 0.025">
|
| 23 |
+
<joint name="object0:joint" type="free" damping="0.01"></joint>
|
| 24 |
+
<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
|
| 25 |
+
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 26 |
+
</body>
|
| 27 |
+
|
| 28 |
+
<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 0 4" dir="0 0 -1" name="light0"></light>
|
| 29 |
+
</worldbody>
|
| 30 |
+
|
| 31 |
+
<actuator>
|
| 32 |
+
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:l_gripper_finger_joint" kp="30000" name="robot0:l_gripper_finger_joint" user="1"></position>
|
| 33 |
+
<position ctrllimited="true" ctrlrange="0 0.2" joint="robot0:r_gripper_finger_joint" kp="30000" name="robot0:r_gripper_finger_joint" user="1"></position>
|
| 34 |
+
</actuator>
|
| 35 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/fetch/push.xml
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<worldbody>
|
| 11 |
+
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 12 |
+
<body name="floor0" pos="0.8 0.75 0">
|
| 13 |
+
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 14 |
+
</body>
|
| 15 |
+
|
| 16 |
+
<include file="robot.xml"></include>
|
| 17 |
+
|
| 18 |
+
<body pos="1.3 0.75 0.2" name="table0">
|
| 19 |
+
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
|
| 20 |
+
</body>
|
| 21 |
+
|
| 22 |
+
<body name="object0" pos="0.025 0.025 0.025">
|
| 23 |
+
<joint name="object0:joint" type="free" damping="0.01"></joint>
|
| 24 |
+
<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
|
| 25 |
+
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 26 |
+
</body>
|
| 27 |
+
|
| 28 |
+
<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 0 4" dir="0 0 -1" name="light0"></light>
|
| 29 |
+
</worldbody>
|
| 30 |
+
|
| 31 |
+
<actuator></actuator>
|
| 32 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/fetch/reach.xml
ADDED
|
@@ -0,0 +1,26 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<worldbody>
|
| 11 |
+
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 12 |
+
<body name="floor0" pos="0.8 0.75 0">
|
| 13 |
+
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 14 |
+
</body>
|
| 15 |
+
|
| 16 |
+
<include file="robot.xml"></include>
|
| 17 |
+
|
| 18 |
+
<body pos="1.3 0.75 0.2" name="table0">
|
| 19 |
+
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
|
| 20 |
+
</body>
|
| 21 |
+
|
| 22 |
+
<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 0 4" dir="0 0 -1" name="light0"></light>
|
| 23 |
+
</worldbody>
|
| 24 |
+
|
| 25 |
+
<actuator></actuator>
|
| 26 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/fetch/robot.xml
ADDED
|
@@ -0,0 +1,123 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco>
|
| 2 |
+
<body mocap="true" name="robot0:mocap" pos="0 0 0">
|
| 3 |
+
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.7" size="0.005 0.005 0.005" type="box"></geom>
|
| 4 |
+
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="1 0.005 0.005" type="box"></geom>
|
| 5 |
+
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 1 0.001" type="box"></geom>
|
| 6 |
+
<geom conaffinity="0" contype="0" pos="0 0 0" rgba="0 0.5 0 0.1" size="0.005 0.005 1" type="box"></geom>
|
| 7 |
+
</body>
|
| 8 |
+
<body childclass="robot0:fetch" name="robot0:base_link" pos="0.2869 0.2641 0">
|
| 9 |
+
<joint armature="0.0001" axis="1 0 0" damping="1e+11" name="robot0:slide0" pos="0 0 0" type="slide"></joint>
|
| 10 |
+
<joint armature="0.0001" axis="0 1 0" damping="1e+11" name="robot0:slide1" pos="0 0 0" type="slide"></joint>
|
| 11 |
+
<joint armature="0.0001" axis="0 0 1" damping="1e+11" name="robot0:slide2" pos="0 0 0" type="slide"></joint>
|
| 12 |
+
<inertial diaginertia="1.2869 1.2236 0.9868" mass="70.1294" pos="-0.0036 0 0.0014" quat="0.7605 -0.0133 -0.0061 0.6491"></inertial>
|
| 13 |
+
<geom mesh="robot0:base_link" name="robot0:base_link" material="robot0:base_mat" class="robot0:grey"></geom>
|
| 14 |
+
<body name="robot0:torso_lift_link" pos="-0.0869 0 0.3774">
|
| 15 |
+
<inertial diaginertia="0.3365 0.3354 0.0943" mass="10.7796" pos="-0.0013 -0.0009 0.2935" quat="0.9993 -0.0006 0.0336 0.0185"></inertial>
|
| 16 |
+
<joint axis="0 0 1" damping="1e+07" name="robot0:torso_lift_joint" range="0.0386 0.3861" type="slide"></joint>
|
| 17 |
+
<geom mesh="robot0:torso_lift_link" name="robot0:torso_lift_link" material="robot0:torso_mat"></geom>
|
| 18 |
+
<body name="robot0:head_pan_link" pos="0.0531 0 0.603">
|
| 19 |
+
<inertial diaginertia="0.0185 0.0128 0.0095" mass="2.2556" pos="0.0321 0.0161 0.039" quat="0.5148 0.5451 -0.453 0.4823"></inertial>
|
| 20 |
+
<joint axis="0 0 1" name="robot0:head_pan_joint" range="-1.57 1.57"></joint>
|
| 21 |
+
<geom mesh="robot0:head_pan_link" name="robot0:head_pan_link" material="robot0:head_mat" class="robot0:grey"></geom>
|
| 22 |
+
<body name="robot0:head_tilt_link" pos="0.1425 0 0.058">
|
| 23 |
+
<inertial diaginertia="0.0063 0.0059 0.0014" mass="0.9087" pos="0.0081 0.0025 0.0113" quat="0.6458 0.66 -0.274 0.2689"></inertial>
|
| 24 |
+
<joint axis="0 1 0" damping="1000" name="robot0:head_tilt_joint" range="-0.76 1.45" ref="0.06"></joint>
|
| 25 |
+
<geom mesh="robot0:head_tilt_link" name="robot0:head_tilt_link" material="robot0:head_mat" class="robot0:blue"></geom>
|
| 26 |
+
<body name="robot0:head_camera_link" pos="0.055 0 0.0225">
|
| 27 |
+
<inertial diaginertia="0 0 0" mass="0" pos="0.055 0 0.0225"></inertial>
|
| 28 |
+
<body name="robot0:head_camera_rgb_frame" pos="0 0.02 0">
|
| 29 |
+
<inertial diaginertia="0 0 0" mass="0" pos="0 0.02 0"></inertial>
|
| 30 |
+
<body name="robot0:head_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
|
| 31 |
+
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
|
| 32 |
+
<camera euler="3.1415 0 0" fovy="50" name="head_camera_rgb" pos="0 0 0"></camera>
|
| 33 |
+
</body>
|
| 34 |
+
</body>
|
| 35 |
+
<body name="robot0:head_camera_depth_frame" pos="0 0.045 0">
|
| 36 |
+
<inertial diaginertia="0 0 0" mass="0" pos="0 0.045 0"></inertial>
|
| 37 |
+
<body name="robot0:head_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
|
| 38 |
+
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></inertial>
|
| 39 |
+
</body>
|
| 40 |
+
</body>
|
| 41 |
+
</body>
|
| 42 |
+
</body>
|
| 43 |
+
</body>
|
| 44 |
+
<body name="robot0:shoulder_pan_link" pos="0.1195 0 0.3486">
|
| 45 |
+
<inertial diaginertia="0.009 0.0086 0.0041" mass="2.5587" pos="0.0927 -0.0056 0.0564" quat="-0.1364 0.7624 -0.1562 0.613"></inertial>
|
| 46 |
+
<joint axis="0 0 1" name="robot0:shoulder_pan_joint" range="-1.6056 1.6056"></joint>
|
| 47 |
+
<geom mesh="robot0:shoulder_pan_link" name="robot0:shoulder_pan_link" material="robot0:arm_mat"></geom>
|
| 48 |
+
<body name="robot0:shoulder_lift_link" pos="0.117 0 0.06">
|
| 49 |
+
<inertial diaginertia="0.0116 0.0112 0.0023" mass="2.6615" pos="0.1432 0.0072 -0.0001" quat="0.4382 0.4382 0.555 0.555"></inertial>
|
| 50 |
+
<joint axis="0 1 0" name="robot0:shoulder_lift_joint" range="-1.221 1.518"></joint>
|
| 51 |
+
<geom mesh="robot0:shoulder_lift_link" name="robot0:shoulder_lift_link" material="robot0:arm_mat" class="robot0:blue"></geom>
|
| 52 |
+
<body name="robot0:upperarm_roll_link" pos="0.219 0 0">
|
| 53 |
+
<inertial diaginertia="0.0047 0.0045 0.0019" mass="2.3311" pos="0.1165 0.0014 0" quat="-0.0136 0.707 0.0136 0.707"></inertial>
|
| 54 |
+
<joint axis="1 0 0" limited="false" name="robot0:upperarm_roll_joint"></joint>
|
| 55 |
+
<geom mesh="robot0:upperarm_roll_link" name="robot0:upperarm_roll_link" material="robot0:arm_mat"></geom>
|
| 56 |
+
<body name="robot0:elbow_flex_link" pos="0.133 0 0">
|
| 57 |
+
<inertial diaginertia="0.0086 0.0084 0.002" mass="2.1299" pos="0.1279 0.0073 0" quat="0.4332 0.4332 0.5589 0.5589"></inertial>
|
| 58 |
+
<joint axis="0 1 0" name="robot0:elbow_flex_joint" range="-2.251 2.251"></joint>
|
| 59 |
+
<geom mesh="robot0:elbow_flex_link" name="robot0:elbow_flex_link" material="robot0:arm_mat" class="robot0:blue"></geom>
|
| 60 |
+
<body name="robot0:forearm_roll_link" pos="0.197 0 0">
|
| 61 |
+
<inertial diaginertia="0.0035 0.0031 0.0015" mass="1.6563" pos="0.1097 -0.0266 0" quat="-0.0715 0.7035 0.0715 0.7035"></inertial>
|
| 62 |
+
<joint armature="2.7538" axis="1 0 0" damping="3.5247" frictionloss="0" limited="false" name="robot0:forearm_roll_joint" stiffness="10"></joint>
|
| 63 |
+
<geom mesh="robot0:forearm_roll_link" name="robot0:forearm_roll_link" material="robot0:arm_mat"></geom>
|
| 64 |
+
<body name="robot0:wrist_flex_link" pos="0.1245 0 0">
|
| 65 |
+
<inertial diaginertia="0.0042 0.0042 0.0018" mass="1.725" pos="0.0882 0.0009 -0.0001" quat="0.4895 0.4895 0.5103 0.5103"></inertial>
|
| 66 |
+
<joint axis="0 1 0" name="robot0:wrist_flex_joint" range="-2.16 2.16"></joint>
|
| 67 |
+
<geom mesh="robot0:wrist_flex_link" name="robot0:wrist_flex_link" material="robot0:arm_mat" class="robot0:blue"></geom>
|
| 68 |
+
<body name="robot0:wrist_roll_link" pos="0.1385 0 0">
|
| 69 |
+
<inertial diaginertia="0.0001 0.0001 0.0001" mass="0.1354" pos="0.0095 0.0004 -0.0002"></inertial>
|
| 70 |
+
<joint axis="1 0 0" limited="false" name="robot0:wrist_roll_joint"></joint>
|
| 71 |
+
<geom mesh="robot0:wrist_roll_link" name="robot0:wrist_roll_link" material="robot0:arm_mat"></geom>
|
| 72 |
+
<body euler="0 0 0" name="robot0:gripper_link" pos="0.1664 0 0">
|
| 73 |
+
<inertial diaginertia="0.0024 0.0019 0.0013" mass="1.5175" pos="-0.09 -0.0001 -0.0017" quat="0 0.7071 0 0.7071"></inertial>
|
| 74 |
+
<geom mesh="robot0:gripper_link" name="robot0:gripper_link" material="robot0:gripper_mat"></geom>
|
| 75 |
+
<body name="robot0:gripper_camera_link" pos="0.055 0 0.0225">
|
| 76 |
+
<body name="robot0:gripper_camera_rgb_frame" pos="0 0.02 0">
|
| 77 |
+
<body name="robot0:gripper_camera_rgb_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5">
|
| 78 |
+
<camera euler="3.1415 0 0" fovy="50" name="gripper_camera_rgb" pos="0 0 0"></camera>
|
| 79 |
+
</body>
|
| 80 |
+
</body>
|
| 81 |
+
<body name="robot0:gripper_camera_depth_frame" pos="0 0.045 0">
|
| 82 |
+
<body name="robot0:gripper_camera_depth_optical_frame" pos="0 0 0" quat="0.5 -0.5 0.5 -0.5"></body>
|
| 83 |
+
</body>
|
| 84 |
+
</body>
|
| 85 |
+
|
| 86 |
+
<body childclass="robot0:fetchGripper" name="robot0:r_gripper_finger_link" pos="0 0.0159 0">
|
| 87 |
+
<inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>
|
| 88 |
+
<joint axis="0 1 0" name="robot0:r_gripper_finger_joint" range="0 0.05"></joint>
|
| 89 |
+
<geom pos="0 -0.008 0" size="0.0385 0.007 0.0135" type="box" name="robot0:r_gripper_finger_link" material="robot0:gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>
|
| 90 |
+
</body>
|
| 91 |
+
<body childclass="robot0:fetchGripper" name="robot0:l_gripper_finger_link" pos="0 -0.0159 0">
|
| 92 |
+
<inertial diaginertia="0.1 0.1 0.1" mass="4" pos="-0.01 0 0"></inertial>
|
| 93 |
+
<joint axis="0 -1 0" name="robot0:l_gripper_finger_joint" range="0 0.05"></joint>
|
| 94 |
+
<geom pos="0 0.008 0" size="0.0385 0.007 0.0135" type="box" name="robot0:l_gripper_finger_link" material="robot0:gripper_finger_mat" condim="4" friction="1 0.05 0.01"></geom>
|
| 95 |
+
</body>
|
| 96 |
+
<site name="robot0:grip" pos="0.02 0 0" rgba="0 0 0 0" size="0.02 0.02 0.02"></site>
|
| 97 |
+
</body>
|
| 98 |
+
</body>
|
| 99 |
+
</body>
|
| 100 |
+
</body>
|
| 101 |
+
</body>
|
| 102 |
+
</body>
|
| 103 |
+
</body>
|
| 104 |
+
</body>
|
| 105 |
+
</body>
|
| 106 |
+
<body name="robot0:estop_link" pos="-0.1246 0.2389 0.3113" quat="0.7071 0.7071 0 0">
|
| 107 |
+
<inertial diaginertia="0 0 0" mass="0.002" pos="0.0024 -0.0033 0.0067" quat="0.3774 -0.1814 0.1375 0.8977"></inertial>
|
| 108 |
+
<geom mesh="robot0:estop_link" rgba="0.8 0 0 1" name="robot0:estop_link"></geom>
|
| 109 |
+
</body>
|
| 110 |
+
<body name="robot0:laser_link" pos="0.235 0 0.2878" quat="0 1 0 0">
|
| 111 |
+
<inertial diaginertia="0 0 0" mass="0.0083" pos="-0.0306 0.0007 0.0552" quat="0.5878 0.5378 -0.4578 0.3945"></inertial>
|
| 112 |
+
<geom mesh="robot0:laser_link" rgba="0.7922 0.8196 0.9333 1" name="robot0:laser_link"></geom>
|
| 113 |
+
<camera euler="1.55 -1.55 3.14" fovy="25" name="lidar" pos="0 0 0.02"></camera>
|
| 114 |
+
</body>
|
| 115 |
+
<body name="robot0:torso_fixed_link" pos="-0.0869 0 0.3774">
|
| 116 |
+
<inertial diaginertia="0.3865 0.3394 0.1009" mass="13.2775" pos="-0.0722 0.0057 0.2656" quat="0.9995 0.0249 0.0177 0.011"></inertial>
|
| 117 |
+
<geom mesh="robot0:torso_fixed_link" name="robot0:torso_fixed_link" class="robot0:blue"></geom>
|
| 118 |
+
</body>
|
| 119 |
+
<body name="robot0:external_camera_body_0" pos="0 0 0">
|
| 120 |
+
<camera euler="0 0.75 1.57" fovy="43.3" name="external_camera_0" pos="1.3 0 1.2"></camera>
|
| 121 |
+
</body>
|
| 122 |
+
</body>
|
| 123 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/fetch/shared.xml
ADDED
|
@@ -0,0 +1,66 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco>
|
| 2 |
+
<asset>
|
| 3 |
+
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
|
| 4 |
+
<texture name="texture_block" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 5 |
+
|
| 6 |
+
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
|
| 7 |
+
<material name="table_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.93 0.93 0.93 1"></material>
|
| 8 |
+
<material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
|
| 9 |
+
<material name="puck_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
|
| 10 |
+
<material name="robot0:geomMat" shininess="0.03" specular="0.4"></material>
|
| 11 |
+
<material name="robot0:gripper_finger_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
| 12 |
+
<material name="robot0:gripper_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
| 13 |
+
<material name="robot0:arm_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
| 14 |
+
<material name="robot0:head_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
| 15 |
+
<material name="robot0:torso_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
| 16 |
+
<material name="robot0:base_mat" shininess="0.03" specular="0.4" reflectance="0"></material>
|
| 17 |
+
|
| 18 |
+
<mesh file="base_link_collision.stl" name="robot0:base_link"></mesh>
|
| 19 |
+
<mesh file="bellows_link_collision.stl" name="robot0:bellows_link"></mesh>
|
| 20 |
+
<mesh file="elbow_flex_link_collision.stl" name="robot0:elbow_flex_link"></mesh>
|
| 21 |
+
<mesh file="estop_link.stl" name="robot0:estop_link"></mesh>
|
| 22 |
+
<mesh file="forearm_roll_link_collision.stl" name="robot0:forearm_roll_link"></mesh>
|
| 23 |
+
<mesh file="gripper_link.stl" name="robot0:gripper_link"></mesh>
|
| 24 |
+
<mesh file="head_pan_link_collision.stl" name="robot0:head_pan_link"></mesh>
|
| 25 |
+
<mesh file="head_tilt_link_collision.stl" name="robot0:head_tilt_link"></mesh>
|
| 26 |
+
<mesh file="l_wheel_link_collision.stl" name="robot0:l_wheel_link"></mesh>
|
| 27 |
+
<mesh file="laser_link.stl" name="robot0:laser_link"></mesh>
|
| 28 |
+
<mesh file="r_wheel_link_collision.stl" name="robot0:r_wheel_link"></mesh>
|
| 29 |
+
<mesh file="torso_lift_link_collision.stl" name="robot0:torso_lift_link"></mesh>
|
| 30 |
+
<mesh file="shoulder_pan_link_collision.stl" name="robot0:shoulder_pan_link"></mesh>
|
| 31 |
+
<mesh file="shoulder_lift_link_collision.stl" name="robot0:shoulder_lift_link"></mesh>
|
| 32 |
+
<mesh file="upperarm_roll_link_collision.stl" name="robot0:upperarm_roll_link"></mesh>
|
| 33 |
+
<mesh file="wrist_flex_link_collision.stl" name="robot0:wrist_flex_link"></mesh>
|
| 34 |
+
<mesh file="wrist_roll_link_collision.stl" name="robot0:wrist_roll_link"></mesh>
|
| 35 |
+
<mesh file="torso_fixed_link.stl" name="robot0:torso_fixed_link"></mesh>
|
| 36 |
+
</asset>
|
| 37 |
+
|
| 38 |
+
<equality>
|
| 39 |
+
<weld body1="robot0:mocap" body2="robot0:gripper_link" solimp="0.9 0.95 0.001" solref="0.02 1"></weld>
|
| 40 |
+
</equality>
|
| 41 |
+
|
| 42 |
+
<contact>
|
| 43 |
+
<exclude body1="robot0:r_gripper_finger_link" body2="robot0:l_gripper_finger_link"></exclude>
|
| 44 |
+
<exclude body1="robot0:torso_lift_link" body2="robot0:torso_fixed_link"></exclude>
|
| 45 |
+
<exclude body1="robot0:torso_lift_link" body2="robot0:shoulder_pan_link"></exclude>
|
| 46 |
+
</contact>
|
| 47 |
+
|
| 48 |
+
<default>
|
| 49 |
+
<default class="robot0:fetch">
|
| 50 |
+
<geom margin="0.001" material="robot0:geomMat" rgba="1 1 1 1" solimp="0.99 0.99 0.01" solref="0.01 1" type="mesh" user="0"></geom>
|
| 51 |
+
<joint armature="1" damping="50" frictionloss="0" stiffness="0"></joint>
|
| 52 |
+
|
| 53 |
+
<default class="robot0:fetchGripper">
|
| 54 |
+
<geom condim="4" margin="0.001" type="box" user="0" rgba="0.356 0.361 0.376 1.0"></geom>
|
| 55 |
+
<joint armature="100" damping="1000" limited="true" solimplimit="0.99 0.999 0.01" solreflimit="0.01 1" type="slide"></joint>
|
| 56 |
+
</default>
|
| 57 |
+
|
| 58 |
+
<default class="robot0:grey">
|
| 59 |
+
<geom rgba="0.356 0.361 0.376 1.0"></geom>
|
| 60 |
+
</default>
|
| 61 |
+
<default class="robot0:blue">
|
| 62 |
+
<geom rgba="0.086 0.506 0.767 1.0"></geom>
|
| 63 |
+
</default>
|
| 64 |
+
</default>
|
| 65 |
+
</default>
|
| 66 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/fetch/slide.xml
ADDED
|
@@ -0,0 +1,32 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<worldbody>
|
| 11 |
+
<geom name="floor0" pos="1 0.75 0" size="1.05 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 12 |
+
<body name="floor0" pos="1 0.75 0">
|
| 13 |
+
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 14 |
+
</body>
|
| 15 |
+
|
| 16 |
+
<include file="robot.xml"></include>
|
| 17 |
+
|
| 18 |
+
<body name="table0" pos="1.32441906 0.75018422 0.2">
|
| 19 |
+
<geom size="0.625 0.45 0.2" type="box" condim="3" name="table0" material="table_mat" mass="2000" friction="0.1 0.005 0.0001"></geom>
|
| 20 |
+
</body>
|
| 21 |
+
|
| 22 |
+
<body name="object0" pos="0.025 0.025 0.02">
|
| 23 |
+
<joint name="object0:joint" type="free" damping="0.01"></joint>
|
| 24 |
+
<geom size="0.025 0.02" type="cylinder" condim="3" name="object0" material="puck_mat" friction="0.1 0.005 0.0001" mass="2"></geom>
|
| 25 |
+
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
|
| 26 |
+
</body>
|
| 27 |
+
|
| 28 |
+
<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 0 4" dir="0 0 -1" name="light0"></light>
|
| 29 |
+
</worldbody>
|
| 30 |
+
|
| 31 |
+
<actuator></actuator>
|
| 32 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/egg.xml
ADDED
|
@@ -0,0 +1,17 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<worldbody>
|
| 9 |
+
<body name="egg" pos="1 0.87 0.2">
|
| 10 |
+
<geom name="egg" type="ellipsoid" size="0.03 0.03 0.04" material="material:egg" condim="4"></geom>
|
| 11 |
+
<site name="egg:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 12 |
+
<joint name="egg:joint" type="free" damping="0.01"></joint>
|
| 13 |
+
</body>
|
| 14 |
+
|
| 15 |
+
<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>
|
| 16 |
+
</worldbody>
|
| 17 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/manipulate_block.xml
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<asset>
|
| 11 |
+
<include file="shared_asset.xml"></include>
|
| 12 |
+
|
| 13 |
+
<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 14 |
+
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 15 |
+
|
| 16 |
+
<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
|
| 17 |
+
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
|
| 18 |
+
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
|
| 19 |
+
</asset>
|
| 20 |
+
|
| 21 |
+
<worldbody>
|
| 22 |
+
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 23 |
+
<body name="floor0" pos="1 1 0"></body>
|
| 24 |
+
|
| 25 |
+
<include file="robot.xml"></include>
|
| 26 |
+
|
| 27 |
+
<!--body name="object" pos="1 0.87 0.2">
|
| 28 |
+
<geom name="object" type="box" size="0.025 0.025 0.025" material="material:object" condim="4" density="567"></geom>
|
| 29 |
+
<geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
|
| 30 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 31 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 32 |
+
</body>
|
| 33 |
+
<body name="target" pos="1 0.87 0.2">
|
| 34 |
+
<geom name="target" type="box" size="0.025 0.025 0.025" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
|
| 35 |
+
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 36 |
+
<joint name="target:joint" type="free" damping="0.01"></joint>
|
| 37 |
+
</body-->
|
| 38 |
+
|
| 39 |
+
<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>
|
| 40 |
+
</worldbody>
|
| 41 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/manipulate_block_touch_sensors.xml
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
<include file="shared_touch_sensors_92.xml"></include>
|
| 10 |
+
|
| 11 |
+
<asset>
|
| 12 |
+
<include file="shared_asset.xml"></include>
|
| 13 |
+
|
| 14 |
+
<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 15 |
+
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 16 |
+
|
| 17 |
+
<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
|
| 18 |
+
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
|
| 19 |
+
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
|
| 20 |
+
</asset>
|
| 21 |
+
|
| 22 |
+
<worldbody>
|
| 23 |
+
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 24 |
+
<body name="floor0" pos="1 1 0"></body>
|
| 25 |
+
|
| 26 |
+
<include file="robot_touch_sensors_92.xml"></include>
|
| 27 |
+
|
| 28 |
+
<body name="object" pos="1 0.87 0.2">
|
| 29 |
+
<geom name="object" type="box" size="0.025 0.025 0.025" material="material:object" condim="4" density="567"></geom>
|
| 30 |
+
<geom name="object_hidden" type="box" size="0.024 0.024 0.024" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
|
| 31 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 32 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 33 |
+
</body>
|
| 34 |
+
<body name="target" pos="1 0.87 0.2">
|
| 35 |
+
<geom name="target" type="box" size="0.025 0.025 0.025" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
|
| 36 |
+
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 37 |
+
<joint name="target:joint" type="free" damping="0.01"></joint>
|
| 38 |
+
</body>
|
| 39 |
+
|
| 40 |
+
<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>
|
| 41 |
+
</worldbody>
|
| 42 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/manipulate_egg.xml
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<asset>
|
| 11 |
+
<include file="shared_asset.xml"></include>
|
| 12 |
+
|
| 13 |
+
<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 14 |
+
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 15 |
+
|
| 16 |
+
<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
|
| 17 |
+
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
|
| 18 |
+
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
|
| 19 |
+
</asset>
|
| 20 |
+
|
| 21 |
+
<worldbody>
|
| 22 |
+
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 23 |
+
<body name="floor0" pos="1 1 0"></body>
|
| 24 |
+
|
| 25 |
+
<include file="robot.xml"></include>
|
| 26 |
+
|
| 27 |
+
<body name="object" pos="1 0.87 0.2">
|
| 28 |
+
<geom name="object" type="ellipsoid" size="0.03 0.03 0.04" material="material:object" condim="4"></geom>
|
| 29 |
+
<geom name="object_hidden" type="ellipsoid" size="0.029 0.029 0.03" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
|
| 30 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 31 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 32 |
+
</body>
|
| 33 |
+
<body name="target" pos="1 0.87 0.2">
|
| 34 |
+
<geom name="target" type="ellipsoid" size="0.03 0.03 0.04" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
|
| 35 |
+
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 36 |
+
<joint name="target:joint" type="free" damping="0.01"></joint>
|
| 37 |
+
</body>
|
| 38 |
+
|
| 39 |
+
<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>
|
| 40 |
+
</worldbody>
|
| 41 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/manipulate_egg_touch_sensors.xml
ADDED
|
@@ -0,0 +1,42 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
<include file="shared_touch_sensors_92.xml"></include>
|
| 10 |
+
|
| 11 |
+
<asset>
|
| 12 |
+
<include file="shared_asset.xml"></include>
|
| 13 |
+
|
| 14 |
+
<texture name="texture:object" file="block.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 15 |
+
<texture name="texture:hidden" file="block_hidden.png" gridsize="3 4" gridlayout=".U..LFRB.D.."></texture>
|
| 16 |
+
|
| 17 |
+
<material name="material:object" texture="texture:object" specular="1" shininess="0.3" reflectance="0"></material>
|
| 18 |
+
<material name="material:hidden" texture="texture:hidden" specular="1" shininess="0.3" reflectance="0"></material>
|
| 19 |
+
<material name="material:target" texture="texture:object" specular="1" shininess="0.3" reflectance="0" rgba="1 1 1 0.5"></material>
|
| 20 |
+
</asset>
|
| 21 |
+
|
| 22 |
+
<worldbody>
|
| 23 |
+
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 24 |
+
<body name="floor0" pos="1 1 0"></body>
|
| 25 |
+
|
| 26 |
+
<include file="robot_touch_sensors_92.xml"></include>
|
| 27 |
+
|
| 28 |
+
<body name="object" pos="1 0.87 0.2">
|
| 29 |
+
<geom name="object" type="ellipsoid" size="0.03 0.03 0.04" material="material:object" condim="4"></geom>
|
| 30 |
+
<geom name="object_hidden" type="ellipsoid" size="0.029 0.029 0.03" material="material:hidden" condim="4" contype="0" conaffinity="0" mass="0"></geom>
|
| 31 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 32 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 33 |
+
</body>
|
| 34 |
+
<body name="target" pos="1 0.87 0.2">
|
| 35 |
+
<geom name="target" type="ellipsoid" size="0.03 0.03 0.04" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
|
| 36 |
+
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 37 |
+
<joint name="target:joint" type="free" damping="0.01"></joint>
|
| 38 |
+
</body>
|
| 39 |
+
|
| 40 |
+
<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>
|
| 41 |
+
</worldbody>
|
| 42 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/manipulate_pen.xml
ADDED
|
@@ -0,0 +1,40 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<asset>
|
| 11 |
+
<include file="shared_asset.xml"></include>
|
| 12 |
+
|
| 13 |
+
<material name="material:object" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 1.0"></material>
|
| 14 |
+
<material name="material:target" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 0.5"></material>
|
| 15 |
+
</asset>
|
| 16 |
+
|
| 17 |
+
<worldbody>
|
| 18 |
+
<geom name="floor0" pos="1 1 -0.2" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 19 |
+
<body name="floor0" pos="1 1 0"></body>
|
| 20 |
+
|
| 21 |
+
<include file="robot.xml"></include>
|
| 22 |
+
|
| 23 |
+
<body name="object" pos="1 0.87 0.2" euler="-1 1 0">
|
| 24 |
+
<geom name="object" type="capsule" size="0.008 0.1" material="material:object" condim="4"></geom>
|
| 25 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 26 |
+
<site name="object:top" pos="0 0 0.1" rgba="1 0 0 1" size="0.0081"></site>
|
| 27 |
+
<site name="object:bottom" pos="0 0 -0.1" rgba="0 1 0 1" size="0.0081"></site>
|
| 28 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 29 |
+
</body>
|
| 30 |
+
<body name="target" pos="1 0.87 0.2" euler="-1 1 0">
|
| 31 |
+
<geom name="target" type="capsule" size="0.008 0.1" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
|
| 32 |
+
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 33 |
+
<site name="target:top" pos="0 0 0.1" rgba="1 0 0 0.5" size="0.0081"></site>
|
| 34 |
+
<site name="target:bottom" pos="0 0 -0.1" rgba="0 1 0 0.5" size="0.0081"></site>
|
| 35 |
+
<joint name="target:joint" type="free" damping="0.01"></joint>
|
| 36 |
+
</body>
|
| 37 |
+
|
| 38 |
+
<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>
|
| 39 |
+
</worldbody>
|
| 40 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/manipulate_pen_touch_sensors.xml
ADDED
|
@@ -0,0 +1,41 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
<include file="shared_touch_sensors_92.xml"></include>
|
| 10 |
+
|
| 11 |
+
<asset>
|
| 12 |
+
<include file="shared_asset.xml"></include>
|
| 13 |
+
|
| 14 |
+
<material name="material:object" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 1.0"></material>
|
| 15 |
+
<material name="material:target" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 0.5"></material>
|
| 16 |
+
</asset>
|
| 17 |
+
|
| 18 |
+
<worldbody>
|
| 19 |
+
<geom name="floor0" pos="1 1 -0.2" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 20 |
+
<body name="floor0" pos="1 1 0"></body>
|
| 21 |
+
|
| 22 |
+
<include file="robot_touch_sensors_92.xml"></include>
|
| 23 |
+
|
| 24 |
+
<body name="object" pos="1 0.87 0.2" euler="-1 1 0">
|
| 25 |
+
<geom name="object" type="capsule" size="0.008 0.1" material="material:object" condim="4"></geom>
|
| 26 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 27 |
+
<site name="object:top" pos="0 0 0.1" rgba="1 0 0 1" size="0.0081"></site>
|
| 28 |
+
<site name="object:bottom" pos="0 0 -0.1" rgba="0 1 0 1" size="0.0081"></site>
|
| 29 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 30 |
+
</body>
|
| 31 |
+
<body name="target" pos="1 0.87 0.2" euler="-1 1 0">
|
| 32 |
+
<geom name="target" type="capsule" size="0.008 0.1" material="material:target" condim="4" group="2" contype="0" conaffinity="0"></geom>
|
| 33 |
+
<site name="target:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 34 |
+
<site name="target:top" pos="0 0 0.1" rgba="1 0 0 0.5" size="0.0081"></site>
|
| 35 |
+
<site name="target:bottom" pos="0 0 -0.1" rgba="0 1 0 0.5" size="0.0081"></site>
|
| 36 |
+
<joint name="target:joint" type="free" damping="0.01"></joint>
|
| 37 |
+
</body>
|
| 38 |
+
|
| 39 |
+
<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>
|
| 40 |
+
</worldbody>
|
| 41 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/pen.xml
ADDED
|
@@ -0,0 +1,28 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<asset>
|
| 11 |
+
<include file="shared_asset.xml"></include>
|
| 12 |
+
|
| 13 |
+
<material name="material:object" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 1.0"></material>
|
| 14 |
+
<material name="material:target" specular="0" shininess="0.5" reflectance="0.0" rgba="0.46 0.81 0.88 0.5"></material>
|
| 15 |
+
</asset>
|
| 16 |
+
|
| 17 |
+
<worldbody>
|
| 18 |
+
<body name="object" pos="1 0.87 0.2" euler="-1 1 0">
|
| 19 |
+
<geom name="object" type="capsule" size="0.008 0.1" material="material:object" condim="4"></geom>
|
| 20 |
+
<site name="object:center" pos="0 0 0" rgba="1 0 0 0" size="0.01 0.01 0.01"></site>
|
| 21 |
+
<site name="object:top" pos="0 0 0.1" rgba="1 0 0 1" size="0.0081"></site>
|
| 22 |
+
<site name="object:bottom" pos="0 0 -0.1" rgba="0 1 0 1" size="0.0081"></site>
|
| 23 |
+
<joint name="object:joint" type="free" damping="0.01"></joint>
|
| 24 |
+
</body>
|
| 25 |
+
|
| 26 |
+
<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>
|
| 27 |
+
</worldbody>
|
| 28 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/reach.xml
ADDED
|
@@ -0,0 +1,34 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<?xml version="1.0" encoding="utf-8"?>
|
| 2 |
+
<mujoco>
|
| 3 |
+
<compiler angle="radian" coordinate="local" meshdir="../stls/hand" texturedir="../textures"></compiler>
|
| 4 |
+
<option timestep="0.002" iterations="20" apirate="200">
|
| 5 |
+
<flag warmstart="enable"></flag>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<include file="shared.xml"></include>
|
| 9 |
+
|
| 10 |
+
<asset>
|
| 11 |
+
<include file="shared_asset.xml"></include>
|
| 12 |
+
</asset>
|
| 13 |
+
|
| 14 |
+
<worldbody>
|
| 15 |
+
<geom name="floor0" pos="1 1 0" size="1 1 1" type="plane" condim="3" material="floor_mat"></geom>
|
| 16 |
+
<body name="floor0" pos="1 1 0">
|
| 17 |
+
<site name="target0" pos="0 0 0" size="0.005" rgba="1 0 0 1" type="sphere"></site>
|
| 18 |
+
<site name="target1" pos="0 0 0" size="0.005" rgba="0 1 0 1" type="sphere"></site>
|
| 19 |
+
<site name="target2" pos="0 0 0" size="0.005" rgba="0 0 1 1" type="sphere"></site>
|
| 20 |
+
<site name="target3" pos="0 0 0" size="0.005" rgba="1 1 0 1" type="sphere"></site>
|
| 21 |
+
<site name="target4" pos="0 0 0" size="0.005" rgba="1 0 1 1" type="sphere"></site>
|
| 22 |
+
|
| 23 |
+
<site name="finger0" pos="0 0 0" size="0.01" rgba="1 0 0 0.2" type="sphere"></site>
|
| 24 |
+
<site name="finger1" pos="0 0 0" size="0.01" rgba="0 1 0 0.2" type="sphere"></site>
|
| 25 |
+
<site name="finger2" pos="0 0 0" size="0.01" rgba="0 0 1 0.2" type="sphere"></site>
|
| 26 |
+
<site name="finger3" pos="0 0 0" size="0.01" rgba="1 1 0 0.2" type="sphere"></site>
|
| 27 |
+
<site name="finger4" pos="0 0 0" size="0.01" rgba="1 0 1 0.2" type="sphere"></site>
|
| 28 |
+
</body>
|
| 29 |
+
|
| 30 |
+
<include file="robot.xml"></include>
|
| 31 |
+
|
| 32 |
+
<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 0 4" dir="0 0 -1" name="light0"></light>
|
| 33 |
+
</worldbody>
|
| 34 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/robot_touch_sensors_92.xml
ADDED
|
@@ -0,0 +1,252 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. -->
|
| 2 |
+
<mujoco>
|
| 3 |
+
<body name="robot0:hand mount" pos="1 1.25 0.15" euler="1.5708 0 3.14159">
|
| 4 |
+
<inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
|
| 5 |
+
<body childclass="robot0:asset_class" name="robot0:forearm" pos="0 0.01 0" euler="0 0 0">
|
| 6 |
+
<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>
|
| 7 |
+
<geom class="robot0:D_Vizual" pos="0 0.01 0.04" name="robot0:V_forearm" mesh="robot0:forearm" euler="0 0 1.57"></geom>
|
| 8 |
+
<geom class="robot0:DC_Hand" name="robot0:C_forearm" type="mesh" mesh="robot0:forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
|
| 9 |
+
<body name="robot0:wrist" pos="0 0 0.256">
|
| 10 |
+
<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>
|
| 11 |
+
<joint name="robot0: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>
|
| 12 |
+
<geom class="robot0:D_Vizual" name="robot0:V_wrist" mesh="robot0:wrist"></geom>
|
| 13 |
+
<geom class="robot0:DC_Hand" name="robot0: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>
|
| 14 |
+
<body name="robot0:palm" pos="0 0 0.034">
|
| 15 |
+
<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>
|
| 16 |
+
<joint name="robot0: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>
|
| 17 |
+
<geom class="robot0:D_Vizual" name="robot0:V_palm" mesh="robot0:palm"></geom>
|
| 18 |
+
<geom class="robot0:DC_Hand" name="robot0: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>
|
| 19 |
+
<site name="robot0:T_palm_b0" type="box" pos="0.011 -0.005 0.006" size="0.033 0.007 0.019" rgba="0 0 0 0.33"/>
|
| 20 |
+
<site name="robot0:T_palm_bl" type="box" pos="-0.011 -0.005 0.041" size="0.011 0.007 0.016" rgba="1 0 0 0.33"/>
|
| 21 |
+
<site name="robot0:T_palm_bm" type="box" pos="0.011 -0.005 0.041" size="0.011 0.007 0.016" rgba="0 0 0 0.33"/>
|
| 22 |
+
<site name="robot0:T_palm_br" type="box" pos="0.033 -0.005 0.041" size="0.011 0.007 0.016" rgba="1 0 0 0.33"/>
|
| 23 |
+
<site name="robot0:T_palm_fl" type="box" pos="-0.011 -0.005 0.073" size="0.011 0.007 0.016" rgba="0 0 0 0.33"/>
|
| 24 |
+
<site name="robot0:T_palm_fm" type="box" pos="0.011 -0.005 0.073" size="0.011 0.007 0.016" rgba="1 0 0 0.33"/>
|
| 25 |
+
<site name="robot0:T_palm_fr" type="box" pos="0.033 -0.005 0.073" size="0.011 0.007 0.016" rgba="0 0 0 0.33"/>
|
| 26 |
+
<geom class="robot0:DC_Hand" name="robot0: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>
|
| 27 |
+
<site name="robot0:T_palm_b1" type="box" pos="-0.0325 -0.005 0.014" size="0.012 0.007 0.027" rgba="0 0 0 0.33"/>
|
| 28 |
+
<body name="robot0:ffknuckle" pos="0.033 0 0.095">
|
| 29 |
+
<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>
|
| 30 |
+
<joint name="robot0:FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
|
| 31 |
+
<geom class="robot0:D_Vizual" name="robot0:V_ffknuckle" mesh="robot0:knuckle"></geom>
|
| 32 |
+
<body name="robot0:ffproximal" pos="0 0 0">
|
| 33 |
+
<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>
|
| 34 |
+
<joint name="robot0:FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
|
| 35 |
+
<geom class="robot0:D_Vizual" name="robot0:V_ffproximal" mesh="robot0:F3"></geom>
|
| 36 |
+
<geom class="robot0:DC_Hand" name="robot0:C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 37 |
+
<site name="robot0:T_ffproximal_front_left_bottom" type="box" pos="-0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 38 |
+
<site name="robot0:T_ffproximal_front_right_bottom" type="box" pos="0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 39 |
+
<site name="robot0:T_ffproximal_front_left_top" type="box" pos="-0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 40 |
+
<site name="robot0:T_ffproximal_front_right_top" type="box" pos="0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 41 |
+
<site name="robot0:T_ffproximal_back_left" type="box" pos="-0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="0 0 0 0.33"/>
|
| 42 |
+
<site name="robot0:T_ffproximal_back_right" type="box" pos="0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="1 0 0 0.33"/>
|
| 43 |
+
<site name="robot0:T_ffproximal_tip" type="sphere" pos="0 0 0.045" size="0.011" rgba="1 1 0 0.33"/>
|
| 44 |
+
<body name="robot0:ffmiddle" pos="0 0 0.045">
|
| 45 |
+
<inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 46 |
+
<joint name="robot0:FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
|
| 47 |
+
<geom class="robot0:D_Vizual" name="robot0:V_ffmiddle" mesh="robot0:F2"></geom>
|
| 48 |
+
<geom class="robot0:DC_Hand" name="robot0:C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 49 |
+
<site name="robot0:T_ffmiddle_front_left" type="box" pos="-0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 50 |
+
<site name="robot0:T_ffmiddle_front_right" type="box" pos="0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 51 |
+
<site name="robot0:T_ffmiddle_back_left" type="box" pos="-0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 52 |
+
<site name="robot0:T_ffmiddle_back_right" type="box" pos="0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 53 |
+
<site name="robot0:T_ffmiddle_tip" type="sphere" pos="0 0 0.025" size="0.009" rgba="1 1 0 0.33"/>
|
| 54 |
+
<body name="robot0:ffdistal" pos="0 0 0.025">
|
| 55 |
+
<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>
|
| 56 |
+
<joint name="robot0:FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
|
| 57 |
+
<geom class="robot0:D_Vizual" name="robot0:V_ffdistal" pos="0 0 0.001" mesh="robot0:F1"></geom>
|
| 58 |
+
<geom class="robot0:DC_Hand" name="robot0:C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 59 |
+
<site name="robot0:S_fftip" pos="0 0 0.026" group="3"></site>
|
| 60 |
+
<site class="robot0:D_Touch" name="robot0:Tch_fftip"></site>
|
| 61 |
+
<site name="robot0:T_fftip_front_left" type="box" pos="-0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 62 |
+
<site name="robot0:T_fftip_front_right" type="box" pos="0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 63 |
+
<site name="robot0:T_fftip_back_left" type="box" pos="-0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 64 |
+
<site name="robot0:T_fftip_back_right" type="box" pos="0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 65 |
+
<site name="robot0:T_fftip_tip" type="sphere" pos="0 0 0.024" size="0.008" rgba="1 1 0 0.33"/>
|
| 66 |
+
</body>
|
| 67 |
+
</body>
|
| 68 |
+
</body>
|
| 69 |
+
</body>
|
| 70 |
+
<body name="robot0:mfknuckle" pos="0.011 0 0.099">
|
| 71 |
+
<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>
|
| 72 |
+
<joint name="robot0:MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
|
| 73 |
+
<geom class="robot0:D_Vizual" name="robot0:V_mfknuckle" mesh="robot0:knuckle"></geom>
|
| 74 |
+
<body name="robot0:mfproximal" pos="0 0 0">
|
| 75 |
+
<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>
|
| 76 |
+
<joint name="robot0:MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
|
| 77 |
+
<geom class="robot0:D_Vizual" name="robot0:V_mfproximal" mesh="robot0:F3"></geom>
|
| 78 |
+
<geom class="robot0:DC_Hand" name="robot0:C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 79 |
+
<site name="robot0:T_mfproximal_front_left_bottom" type="box" pos="-0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 80 |
+
<site name="robot0:T_mfproximal_front_right_bottom" type="box" pos="0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 81 |
+
<site name="robot0:T_mfproximal_front_left_top" type="box" pos="-0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 82 |
+
<site name="robot0:T_mfproximal_front_right_top" type="box" pos="0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 83 |
+
<site name="robot0:T_mfproximal_back_left" type="box" pos="-0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="0 0 0 0.33"/>
|
| 84 |
+
<site name="robot0:T_mfproximal_back_right" type="box" pos="0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="1 0 0 0.33"/>
|
| 85 |
+
<site name="robot0:T_mfproximal_tip" type="sphere" pos="0 0 0.045" size="0.011" rgba="1 1 0 0.33"/>
|
| 86 |
+
<body name="robot0:mfmiddle" pos="0 0 0.045">
|
| 87 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 88 |
+
<joint name="robot0:MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
|
| 89 |
+
<geom class="robot0:D_Vizual" name="robot0:V_mfmiddle" mesh="robot0:F2"></geom>
|
| 90 |
+
<geom class="robot0:DC_Hand" name="robot0:C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 91 |
+
<site name="robot0:T_mfmiddle_front_left" type="box" pos="-0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 92 |
+
<site name="robot0:T_mfmiddle_front_right" type="box" pos="0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 93 |
+
<site name="robot0:T_mfmiddle_back_left" type="box" pos="-0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 94 |
+
<site name="robot0:T_mfmiddle_back_right" type="box" pos="0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 95 |
+
<site name="robot0:T_mfmiddle_tip" type="sphere" pos="0 0 0.025" size="0.009" rgba="1 1 0 0.33"/>
|
| 96 |
+
<body name="robot0:mfdistal" pos="0 0 0.025">
|
| 97 |
+
<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>
|
| 98 |
+
<joint name="robot0:MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
|
| 99 |
+
<geom class="robot0:D_Vizual" name="robot0:V_mfdistal" mesh="robot0:F1"></geom>
|
| 100 |
+
<geom class="robot0:DC_Hand" name="robot0:C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 101 |
+
<site name="robot0:S_mftip" pos="0 0 0.026" group="3"></site>
|
| 102 |
+
<site class="robot0:D_Touch" name="robot0:Tch_mftip"></site>
|
| 103 |
+
<site name="robot0:T_mftip_front_left" type="box" pos="-0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 104 |
+
<site name="robot0:T_mftip_front_right" type="box" pos="0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 105 |
+
<site name="robot0:T_mftip_back_left" type="box" pos="-0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 106 |
+
<site name="robot0:T_mftip_back_right" type="box" pos="0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 107 |
+
<site name="robot0:T_mftip_tip" type="sphere" pos="0 0 0.024" size="0.008" rgba="1 1 0 0.33"/>
|
| 108 |
+
</body>
|
| 109 |
+
</body>
|
| 110 |
+
</body>
|
| 111 |
+
</body>
|
| 112 |
+
<body name="robot0:rfknuckle" pos="-0.011 0 0.095">
|
| 113 |
+
<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>
|
| 114 |
+
<joint name="robot0:RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
|
| 115 |
+
<geom class="robot0:D_Vizual" name="robot0:V_rfknuckle" mesh="robot0:knuckle"></geom>
|
| 116 |
+
<body name="robot0:rfproximal" pos="0 0 0">
|
| 117 |
+
<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>
|
| 118 |
+
<joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
|
| 119 |
+
<geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3"></geom>
|
| 120 |
+
<geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 121 |
+
<site name="robot0:T_rfproximal_front_left_bottom" type="box" pos="-0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 122 |
+
<site name="robot0:T_rfproximal_front_right_bottom" type="box" pos="0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 123 |
+
<site name="robot0:T_rfproximal_front_left_top" type="box" pos="-0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 124 |
+
<site name="robot0:T_rfproximal_front_right_top" type="box" pos="0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 125 |
+
<site name="robot0:T_rfproximal_back_left" type="box" pos="-0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="0 0 0 0.33"/>
|
| 126 |
+
<site name="robot0:T_rfproximal_back_right" type="box" pos="0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="1 0 0 0.33"/>
|
| 127 |
+
<site name="robot0:T_rfproximal_tip" type="sphere" pos="0 0 0.045" size="0.011" rgba="1 1 0 0.33"/>
|
| 128 |
+
<body name="robot0:rfmiddle" pos="0 0 0.045">
|
| 129 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 130 |
+
<joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
|
| 131 |
+
<geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2"></geom>
|
| 132 |
+
<geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 133 |
+
<site name="robot0:T_rfmiddle_front_left" type="box" pos="-0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 134 |
+
<site name="robot0:T_rfmiddle_front_right" type="box" pos="0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 135 |
+
<site name="robot0:T_rfmiddle_back_left" type="box" pos="-0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 136 |
+
<site name="robot0:T_rfmiddle_back_right" type="box" pos="0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 137 |
+
<site name="robot0:T_rfmiddle_tip" type="sphere" pos="0 0 0.025" size="0.009" rgba="1 1 0 0.33"/>
|
| 138 |
+
<body name="robot0:rfdistal" pos="0 0 0.025">
|
| 139 |
+
<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>
|
| 140 |
+
<joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
|
| 141 |
+
<geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
|
| 142 |
+
<geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 143 |
+
<site name="robot0:S_rftip" pos="0 0 0.026" group="3"></site>
|
| 144 |
+
<site class="robot0:D_Touch" name="robot0:Tch_rftip"></site>
|
| 145 |
+
<site name="robot0:T_rftip_front_left" type="box" pos="-0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 146 |
+
<site name="robot0:T_rftip_front_right" type="box" pos="0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 147 |
+
<site name="robot0:T_rftip_back_left" type="box" pos="-0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 148 |
+
<site name="robot0:T_rftip_back_right" type="box" pos="0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 149 |
+
<site name="robot0:T_rftip_tip" type="sphere" pos="0 0 0.024" size="0.008" rgba="1 1 0 0.33"/>
|
| 150 |
+
</body>
|
| 151 |
+
</body>
|
| 152 |
+
</body>
|
| 153 |
+
</body>
|
| 154 |
+
<body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
|
| 155 |
+
<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>
|
| 156 |
+
<joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
|
| 157 |
+
<geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom>
|
| 158 |
+
<geom class="robot0:DC_Hand" name="robot0: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>
|
| 159 |
+
<site name="robot0:T_lfmetacarpal_front" type="box" pos="-0.0165 -0.005 0.00975" size="0.01 0.007 0.026" rgba="1 0 0 0.33"/>
|
| 160 |
+
<body name="robot0:lfknuckle" pos="-0.017 0 0.044">
|
| 161 |
+
<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>
|
| 162 |
+
<joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
|
| 163 |
+
<geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle"></geom>
|
| 164 |
+
<body name="robot0:lfproximal" pos="0 0 0">
|
| 165 |
+
<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>
|
| 166 |
+
<joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
|
| 167 |
+
<geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3"></geom>
|
| 168 |
+
<geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
|
| 169 |
+
<site name="robot0:T_lfproximal_front_left_bottom" type="box" pos="-0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 170 |
+
<site name="robot0:T_lfproximal_front_right_bottom" type="box" pos="0.005 -0.005 0.00625" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 171 |
+
<site name="robot0:T_lfproximal_front_left_top" type="box" pos="-0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="0 0 0 0.33"/>
|
| 172 |
+
<site name="robot0:T_lfproximal_front_right_top" type="box" pos="0.005 -0.005 0.03875" size="0.005 0.005 0.01625" rgba="1 0 0 0.33"/>
|
| 173 |
+
<site name="robot0:T_lfproximal_back_left" type="box" pos="-0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="0 0 0 0.33"/>
|
| 174 |
+
<site name="robot0:T_lfproximal_back_right" type="box" pos="0.005 0.005 0.0225" size="0.005 0.005 0.0325" rgba="1 0 0 0.33"/>
|
| 175 |
+
<site name="robot0:T_lfproximal_tip" type="sphere" pos="0 0 0.045" size="0.011" rgba="1 1 0 0.33"/>
|
| 176 |
+
<body name="robot0:lfmiddle" pos="0 0 0.045">
|
| 177 |
+
<inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 178 |
+
<joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
|
| 179 |
+
<geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2"></geom>
|
| 180 |
+
<geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
|
| 181 |
+
<site name="robot0:T_lfmiddle_front_left" type="box" pos="-0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 182 |
+
<site name="robot0:T_lfmiddle_front_right" type="box" pos="0.00451 -0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 183 |
+
<site name="robot0:T_lfmiddle_back_left" type="box" pos="-0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="1 0 0 0.33"/>
|
| 184 |
+
<site name="robot0:T_lfmiddle_back_right" type="box" pos="0.00451 0.00451 0.0125" size="0.00451 0.00451 0.02055" rgba="0 0 0 0.33"/>
|
| 185 |
+
<site name="robot0:T_lfmiddle_tip" type="sphere" pos="0 0 0.025" size="0.009" rgba="1 1 0 0.33"/>
|
| 186 |
+
<body name="robot0:lfdistal" pos="0 0 0.025">
|
| 187 |
+
<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>
|
| 188 |
+
<joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
|
| 189 |
+
<geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
|
| 190 |
+
<geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
|
| 191 |
+
<site name="robot0:S_lftip" pos="0 0 0.026" group="3"></site>
|
| 192 |
+
<site class="robot0:D_Touch" name="robot0:Tch_lftip"></site>
|
| 193 |
+
<site name="robot0:T_lftip_front_left" type="box" pos="-0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 194 |
+
<site name="robot0:T_lftip_front_right" type="box" pos="0.00451 -0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 195 |
+
<site name="robot0:T_lftip_back_left" type="box" pos="-0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="0 0 0 0.33"/>
|
| 196 |
+
<site name="robot0:T_lftip_back_right" type="box" pos="0.00451 0.00451 0.012" size="0.00451 0.00451 0.01905" rgba="1 0 0 0.33"/>
|
| 197 |
+
<site name="robot0:T_lftip_tip" type="sphere" pos="0 0 0.024" size="0.008" rgba="1 1 0 0.33"/>
|
| 198 |
+
</body>
|
| 199 |
+
</body>
|
| 200 |
+
</body>
|
| 201 |
+
</body>
|
| 202 |
+
</body>
|
| 203 |
+
<body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
|
| 204 |
+
<inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 205 |
+
<joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
|
| 206 |
+
<geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
|
| 207 |
+
<body name="robot0:thproximal" pos="0 0 0">
|
| 208 |
+
<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>
|
| 209 |
+
<joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
|
| 210 |
+
<geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z"></geom>
|
| 211 |
+
<geom class="robot0:DC_Hand" name="robot0:C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
|
| 212 |
+
<site name="robot0:T_thproximal_front_left" type="box" pos="-0.007 -0.007 0.019" size="0.007 0.007 0.032" rgba="0 0 0 0.33"/>
|
| 213 |
+
<site name="robot0:T_thproximal_front_right" type="box" pos="0.007 -0.007 0.019" size="0.007 0.007 0.032" rgba="1 0 0 0.33"/>
|
| 214 |
+
<site name="robot0:T_thproximal_back_left" type="box" pos="-0.007 0.007 0.019" size="0.007 0.007 0.032" rgba="1 0 0 0.33"/>
|
| 215 |
+
<site name="robot0:T_thproximal_back_right" type="box" pos="0.007 0.007 0.019" size="0.007 0.007 0.032" rgba="0 0 0 0.33"/>
|
| 216 |
+
<site name="robot0:T_thproximal_tip" type="sphere" pos="0 0 0.038" size="0.014" rgba="1 1 0 0.33"/>
|
| 217 |
+
<body name="robot0:thhub" pos="0 0 0.038">
|
| 218 |
+
<inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
|
| 219 |
+
<joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
|
| 220 |
+
<geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
|
| 221 |
+
<body name="robot0:thmiddle" pos="0 0 0">
|
| 222 |
+
<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>
|
| 223 |
+
<joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
|
| 224 |
+
<geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z"></geom>
|
| 225 |
+
<geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
|
| 226 |
+
<site name="robot0:T_thmiddle_front_left" type="box" pos="-0.006 -0.006 0.016" size="0.006 0.006 0.027" rgba="1 0 0 0.33"/>
|
| 227 |
+
<site name="robot0:T_thmiddle_front_right" type="box" pos="0.006 -0.006 0.016" size="0.006 0.006 0.027" rgba="0 0 0 0.33"/>
|
| 228 |
+
<site name="robot0:T_thmiddle_back_left" type="box" pos="-0.006 0.006 0.016" size="0.006 0.006 0.027" rgba="0 0 0 0.33"/>
|
| 229 |
+
<site name="robot0:T_thmiddle_back_right" type="box" pos="0.006 0.006 0.016" size="0.006 0.006 0.027" rgba="1 0 0 0.33"/>
|
| 230 |
+
<site name="robot0:T_thmiddle_tip" type="sphere" pos="0 0 0.032" size="0.012" rgba="1 1 0 0.33"/>
|
| 231 |
+
<body name="robot0:thdistal" pos="0 0 0.032">
|
| 232 |
+
<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>
|
| 233 |
+
<joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
|
| 234 |
+
<geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z"></geom>
|
| 235 |
+
<geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
|
| 236 |
+
<site name="robot0:S_thtip" pos="0 0 0.0275" group="3"></site>
|
| 237 |
+
<site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
|
| 238 |
+
<site name="robot0:T_thtip_front_left" type="box" pos="-0.0056 -0.0056 0.013" size="0.0056 0.0056 0.02218" rgba="0 0 0 0.33"/>
|
| 239 |
+
<site name="robot0:T_thtip_front_right" type="box" pos="0.0056 -0.0056 0.013" size="0.0056 0.0056 0.02218" rgba="1 0 0 0.33"/>
|
| 240 |
+
<site name="robot0:T_thtip_back_left" type="box" pos="-0.0056 0.0056 0.013" size="0.0056 0.0056 0.02218" rgba="1 0 0 0.33"/>
|
| 241 |
+
<site name="robot0:T_thtip_back_right" type="box" pos="0.0056 0.0056 0.013" size="0.0056 0.0056 0.02218" rgba="0 0 0 0.33"/>
|
| 242 |
+
<site name="robot0:T_thtip_tip" type="sphere" pos="0 0 0.026" size="0.01" rgba="1 1 0 0.33"/>
|
| 243 |
+
</body>
|
| 244 |
+
</body>
|
| 245 |
+
</body>
|
| 246 |
+
</body>
|
| 247 |
+
</body>
|
| 248 |
+
</body>
|
| 249 |
+
</body>
|
| 250 |
+
</body>
|
| 251 |
+
</body>
|
| 252 |
+
</mujoco>
|
assets/bidex/open_ai_assets/mjcf/hand/shared_touch_sensors_92.xml
ADDED
|
@@ -0,0 +1,120 @@
|
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco>
|
| 2 |
+
<sensor>
|
| 3 |
+
|
| 4 |
+
<!--PALM-->
|
| 5 |
+
<touch name="robot0:TS_palm_b0" site="robot0:T_palm_b0"></touch>
|
| 6 |
+
<touch name="robot0:TS_palm_bl" site="robot0:T_palm_bl"></touch>
|
| 7 |
+
<touch name="robot0:TS_palm_bm" site="robot0:T_palm_bm"></touch>
|
| 8 |
+
<touch name="robot0:TS_palm_br" site="robot0:T_palm_br"></touch>
|
| 9 |
+
<touch name="robot0:TS_palm_fl" site="robot0:T_palm_fl"></touch>
|
| 10 |
+
<touch name="robot0:TS_palm_fm" site="robot0:T_palm_fm"></touch>
|
| 11 |
+
<touch name="robot0:TS_palm_fr" site="robot0:T_palm_fr"></touch>
|
| 12 |
+
<touch name="robot0:TS_palm_b1" site="robot0:T_palm_b1"></touch>
|
| 13 |
+
|
| 14 |
+
<!--FOREFINGER-->
|
| 15 |
+
<touch name="robot0:TS_ffproximal_front_left_bottom" site="robot0:T_ffproximal_front_left_bottom"></touch>
|
| 16 |
+
<touch name="robot0:TS_ffproximal_front_right_bottom" site="robot0:T_ffproximal_front_right_bottom"></touch>
|
| 17 |
+
<touch name="robot0:TS_ffproximal_front_left_top" site="robot0:T_ffproximal_front_left_top"></touch>
|
| 18 |
+
<touch name="robot0:TS_ffproximal_front_right_top" site="robot0:T_ffproximal_front_right_top"></touch>
|
| 19 |
+
<touch name="robot0:TS_ffproximal_back_left" site="robot0:T_ffproximal_back_left"></touch>
|
| 20 |
+
<touch name="robot0:TS_ffproximal_back_right" site="robot0:T_ffproximal_back_right"></touch>
|
| 21 |
+
<touch name="robot0:TS_ffproximal_tip" site="robot0:T_ffproximal_tip"></touch>
|
| 22 |
+
|
| 23 |
+
<touch name="robot0:TS_ffmiddle_front_left" site="robot0:T_ffmiddle_front_left"></touch>
|
| 24 |
+
<touch name="robot0:TS_ffmiddle_front_right" site="robot0:T_ffmiddle_front_right"></touch>
|
| 25 |
+
<touch name="robot0:TS_ffmiddle_back_left" site="robot0:T_ffmiddle_back_left"></touch>
|
| 26 |
+
<touch name="robot0:TS_ffmiddle_back_right" site="robot0:T_ffmiddle_back_right"></touch>
|
| 27 |
+
<touch name="robot0:TS_ffmiddle_tip" site="robot0:T_ffmiddle_tip"></touch>
|
| 28 |
+
|
| 29 |
+
<touch name="robot0:TS_fftip_front_left" site="robot0:T_fftip_front_left"></touch>
|
| 30 |
+
<touch name="robot0:TS_fftip_front_right" site="robot0:T_fftip_front_right"></touch>
|
| 31 |
+
<touch name="robot0:TS_fftip_back_left" site="robot0:T_fftip_back_left"></touch>
|
| 32 |
+
<touch name="robot0:TS_fftip_back_right" site="robot0:T_fftip_back_right"></touch>
|
| 33 |
+
<touch name="robot0:TS_fftip_tip" site="robot0:T_fftip_tip"></touch>
|
| 34 |
+
|
| 35 |
+
<!-- MIDDLE FINGER -->
|
| 36 |
+
<touch name="robot0:TS_mfproximal_front_left_bottom" site="robot0:T_mfproximal_front_left_bottom"></touch>
|
| 37 |
+
<touch name="robot0:TS_mfproximal_front_right_bottom" site="robot0:T_mfproximal_front_right_bottom"></touch>
|
| 38 |
+
<touch name="robot0:TS_mfproximal_front_left_top" site="robot0:T_mfproximal_front_left_top"></touch>
|
| 39 |
+
<touch name="robot0:TS_mfproximal_front_right_top" site="robot0:T_mfproximal_front_right_top"></touch>
|
| 40 |
+
<touch name="robot0:TS_mfproximal_back_left" site="robot0:T_mfproximal_back_left"></touch>
|
| 41 |
+
<touch name="robot0:TS_mfproximal_back_right" site="robot0:T_mfproximal_back_right"></touch>
|
| 42 |
+
<touch name="robot0:TS_mfproximal_tip" site="robot0:T_mfproximal_tip"></touch>
|
| 43 |
+
|
| 44 |
+
<touch name="robot0:TS_mfmiddle_front_left" site="robot0:T_mfmiddle_front_left"></touch>
|
| 45 |
+
<touch name="robot0:TS_mfmiddle_front_right" site="robot0:T_mfmiddle_front_right"></touch>
|
| 46 |
+
<touch name="robot0:TS_mfmiddle_back_left" site="robot0:T_mfmiddle_back_left"></touch>
|
| 47 |
+
<touch name="robot0:TS_mfmiddle_back_right" site="robot0:T_mfmiddle_back_right"></touch>
|
| 48 |
+
<touch name="robot0:TS_mfmiddle_tip" site="robot0:T_mfmiddle_tip"></touch>
|
| 49 |
+
|
| 50 |
+
<touch name="robot0:TS_mftip_front_left" site="robot0:T_mftip_front_left"></touch>
|
| 51 |
+
<touch name="robot0:TS_mftip_front_right" site="robot0:T_mftip_front_right"></touch>
|
| 52 |
+
<touch name="robot0:TS_mftip_back_left" site="robot0:T_mftip_back_left"></touch>
|
| 53 |
+
<touch name="robot0:TS_mftip_back_right" site="robot0:T_mftip_back_right"></touch>
|
| 54 |
+
<touch name="robot0:TS_mftip_tip" site="robot0:T_mftip_tip"></touch>
|
| 55 |
+
|
| 56 |
+
<!-- RING FINGER -->
|
| 57 |
+
<touch name="robot0:TS_rfproximal_front_left_bottom" site="robot0:T_rfproximal_front_left_bottom"></touch>
|
| 58 |
+
<touch name="robot0:TS_rfproximal_front_right_bottom" site="robot0:T_rfproximal_front_right_bottom"></touch>
|
| 59 |
+
<touch name="robot0:TS_rfproximal_front_left_top" site="robot0:T_rfproximal_front_left_top"></touch>
|
| 60 |
+
<touch name="robot0:TS_rfproximal_front_right_top" site="robot0:T_rfproximal_front_right_top"></touch>
|
| 61 |
+
<touch name="robot0:TS_rfproximal_back_left" site="robot0:T_rfproximal_back_left"></touch>
|
| 62 |
+
<touch name="robot0:TS_rfproximal_back_right" site="robot0:T_rfproximal_back_right"></touch>
|
| 63 |
+
<touch name="robot0:TS_rfproximal_tip" site="robot0:T_rfproximal_tip"></touch>
|
| 64 |
+
|
| 65 |
+
<touch name="robot0:TS_rfmiddle_front_left" site="robot0:T_rfmiddle_front_left"></touch>
|
| 66 |
+
<touch name="robot0:TS_rfmiddle_front_right" site="robot0:T_rfmiddle_front_right"></touch>
|
| 67 |
+
<touch name="robot0:TS_rfmiddle_back_left" site="robot0:T_rfmiddle_back_left"></touch>
|
| 68 |
+
<touch name="robot0:TS_rfmiddle_back_right" site="robot0:T_rfmiddle_back_right"></touch>
|
| 69 |
+
<touch name="robot0:TS_rfmiddle_tip" site="robot0:T_rfmiddle_tip"></touch>
|
| 70 |
+
|
| 71 |
+
<touch name="robot0:TS_rftip_front_left" site="robot0:T_rftip_front_left"></touch>
|
| 72 |
+
<touch name="robot0:TS_rftip_front_right" site="robot0:T_rftip_front_right"></touch>
|
| 73 |
+
<touch name="robot0:TS_rftip_back_left" site="robot0:T_rftip_back_left"></touch>
|
| 74 |
+
<touch name="robot0:TS_rftip_back_right" site="robot0:T_rftip_back_right"></touch>
|
| 75 |
+
<touch name="robot0:TS_rftip_tip" site="robot0:T_rftip_tip"></touch>
|
| 76 |
+
|
| 77 |
+
<!-- LITTLE FINGER -->
|
| 78 |
+
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