|
|
<mujoco model="h1_hand"> |
|
|
<compiler angle="radian" autolimits="true"/> |
|
|
|
|
|
<default> |
|
|
<default class="h1"> |
|
|
<geom type="mesh"/> |
|
|
<joint damping="1" armature="0.1"/> |
|
|
<default class="visual"> |
|
|
<geom contype="0" conaffinity="0" group="2" material="black"/> |
|
|
</default> |
|
|
<default class="collision"> |
|
|
<geom group="3" mass="0" density="0"/> |
|
|
</default> |
|
|
<site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/> |
|
|
<default class="hip"> |
|
|
<position forcerange="-200 200" kp="200" kv="5"/> |
|
|
</default> |
|
|
<default class="knee"> |
|
|
<position forcerange="-300 300" kp="300" kv="6"/> |
|
|
</default> |
|
|
<default class="ankle"> |
|
|
<position forcerange="-40 40" kp="40" kv="2"/> |
|
|
</default> |
|
|
<default class="torso"> |
|
|
<position forcerange="-200 200" kp="300" kv="6"/> |
|
|
</default> |
|
|
<default class="shoulder1"> |
|
|
<position forcerange="-40 40" kp="100" kv="2"/> |
|
|
</default> |
|
|
<default class="shoulder2"> |
|
|
<position forcerange="-18 18" kp="100" kv="2"/> |
|
|
</default> |
|
|
<default class="elbow"> |
|
|
<position forcerange="-18 18" kp="100" kv="2"/> |
|
|
</default> |
|
|
<default class="wrist_yaw"> |
|
|
<position forcerange="-18 18" kp="100" kv="2"/> |
|
|
</default> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
<default> |
|
|
<default class="left_hand"> |
|
|
<mesh scale="0.001 0.001 0.001"/> |
|
|
<joint axis="1 0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> |
|
|
<position forcerange="-1 1"/> |
|
|
|
|
|
<default class="left_wrist"> |
|
|
<joint damping="0.5"/> |
|
|
<default class="left_wrist_y"> |
|
|
<joint axis="0 -1 0" range="-0.523599 0.174533"/> |
|
|
<position kp="10" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/> |
|
|
</default> |
|
|
<default class="left_wrist_x"> |
|
|
<joint range="-0.698132 0.488692"/> |
|
|
<position kp="8" ctrlrange="-0.698132 0.488692" forcerange="-5 5"/> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
<default class="left_thumb"> |
|
|
<default class="left_thbase"> |
|
|
<joint axis="0 0 1" range="-1.0472 1.0472"/> |
|
|
<position kp="0.4" ctrlrange="-1.0472 1.0472" forcerange="-3 3"/> |
|
|
</default> |
|
|
<default class="left_thproximal"> |
|
|
<joint axis="-1 0 0" range="0 1.22173"/> |
|
|
<position ctrlrange="0 1.22173" forcerange="-2 2"/> |
|
|
</default> |
|
|
<default class="left_thhub"> |
|
|
<joint axis="-1 0 0" range="-0.20944 0.20944"/> |
|
|
<position kp="0.5" ctrlrange="-0.20944 0.20944"/> |
|
|
</default> |
|
|
<default class="left_thmiddle"> |
|
|
<joint axis="0 -1 0" range="-0.698132 0.698132"/> |
|
|
<position kp="1.5" ctrlrange="-0.698132 0.698132"/> |
|
|
</default> |
|
|
<default class="left_thdistal"> |
|
|
<joint range="-0.261799 1.5708"/> |
|
|
<position ctrlrange="-0.261799 1.5708"/> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
<default class="left_metacarpal"> |
|
|
<joint axis="0.573576 0 0.819152" range="0 0.785398"/> |
|
|
<position ctrlrange="0 0.785398"/> |
|
|
</default> |
|
|
<default class="left_knuckle"> |
|
|
<joint axis="0 -1 0" range="-0.349066 0.349066"/> |
|
|
<position ctrlrange="-0.349066 0.349066"/> |
|
|
</default> |
|
|
<default class="left_proximal"> |
|
|
<joint range="-0.261799 1.5708"/> |
|
|
<position ctrlrange="-0.261799 1.5708"/> |
|
|
</default> |
|
|
<default class="left_middle_distal"> |
|
|
<joint range="0 1.5708"/> |
|
|
<position kp="0.5" ctrlrange="0 3.1415"/> |
|
|
</default> |
|
|
|
|
|
<default class="left_plastic"> |
|
|
<geom solimp="0.5 0.99 0.0001" solref="0.005 1"/> |
|
|
<default class="left_plastic_visual"> |
|
|
<geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/> |
|
|
</default> |
|
|
<default class="left_plastic_collision"> |
|
|
<geom group="3"/> |
|
|
</default> |
|
|
</default> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
<default> |
|
|
<default class="right_hand"> |
|
|
<mesh scale="0.001 0.001 0.001"/> |
|
|
<joint axis="1 0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/> |
|
|
<position forcerange="-1 1"/> |
|
|
|
|
|
<default class="right_wrist"> |
|
|
<joint damping="0.5"/> |
|
|
<default class="right_wrist_y"> |
|
|
<joint axis="0 1 0" range="-0.523599 0.174533"/> |
|
|
<position kp="10" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/> |
|
|
</default> |
|
|
<default class="right_wrist_x"> |
|
|
<joint range="-0.698132 0.488692"/> |
|
|
<position kp="8" ctrlrange="-0.698132 0.488692" forcerange="-5 5"/> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
<default class="right_thumb"> |
|
|
<default class="right_thbase"> |
|
|
<joint axis="0 0 -1" range="-1.0472 1.0472"/> |
|
|
<position kp="0.4" ctrlrange="-1.0472 1.0472" forcerange="-3 3"/> |
|
|
</default> |
|
|
<default class="right_thproximal"> |
|
|
<joint range="0 1.22173"/> |
|
|
<position ctrlrange="0 1.22173" forcerange="-2 2"/> |
|
|
</default> |
|
|
<default class="right_thhub"> |
|
|
<joint range="-0.20944 0.20944"/> |
|
|
<position kp="0.5" ctrlrange="-0.20944 0.20944"/> |
|
|
</default> |
|
|
<default class="right_thmiddle"> |
|
|
<joint axis="0 -1 0" range="-0.698132 0.698132"/> |
|
|
<position kp="1.5" ctrlrange="-0.698132 0.698132"/> |
|
|
</default> |
|
|
<default class="right_thdistal"> |
|
|
<joint range="-0.261799 1.5708"/> |
|
|
<position ctrlrange="-0.261799 1.5708"/> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
<default class="right_metacarpal"> |
|
|
<joint axis="0.573576 0 0.819152" range="0 0.785398"/> |
|
|
<position ctrlrange="0 0.785398"/> |
|
|
</default> |
|
|
<default class="right_knuckle"> |
|
|
<joint axis="0 -1 0" range="-0.349066 0.349066"/> |
|
|
<position ctrlrange="-0.349066 0.349066"/> |
|
|
</default> |
|
|
<default class="right_proximal"> |
|
|
<joint range="-0.261799 1.5708"/> |
|
|
<position ctrlrange="-0.261799 1.5708"/> |
|
|
</default> |
|
|
<default class="right_middle_distal"> |
|
|
<joint range="0 1.5708"/> |
|
|
<position kp="0.5" ctrlrange="0 3.1415"/> |
|
|
</default> |
|
|
|
|
|
<default class="right_plastic"> |
|
|
<geom solimp="0.5 0.99 0.0001" solref="0.005 1"/> |
|
|
<default class="right_plastic_visual"> |
|
|
<geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/> |
|
|
</default> |
|
|
<default class="right_plastic_collision"> |
|
|
<geom group="3"/> |
|
|
</default> |
|
|
</default> |
|
|
</default> |
|
|
</default> |
|
|
|
|
|
|
|
|
<asset> |
|
|
|
|
|
<texture name="texsky" type="skybox" builtin="gradient" |
|
|
rgb1="0.6 0.8 1" rgb2="0.1 0.4 0.8" |
|
|
width="512" height="3072"/> |
|
|
|
|
|
<material name="black_sh" specular="0.5" shininess="0.25" rgba="0.16355 0.16355 0.16355 1"/> |
|
|
<material name="gray" specular="0.0" shininess="0.25" rgba="0.80848 0.80848 0.80848 1"/> |
|
|
<material name="metallic" specular="0" shininess="0.25" rgba="0.9 0.9 0.9 1"/> |
|
|
|
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/forearm_0.obj" name="left_forearm_0"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/forearm_1.obj" name="left_forearm_1"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/forearm_collision.obj" name="left_forearm_collision"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/wrist.obj" scale="-0.001 0.001 0.001" name="left_wrist"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/palm.obj" scale="-0.001 0.001 0.001" name="left_palm"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_knuckle.obj" name="left_f_knuckle"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_proximal.obj" name="left_f_proximal"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_middle.obj" name="left_f_middle"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_distal_pst.obj" name="left_f_distal_pst"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/lf_metacarpal.obj" scale="-0.001 0.001 0.001" name="left_lf_metacarpal"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/th_proximal.obj" name="left_th_proximal"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/th_middle.obj" name="left_th_middle"/> |
|
|
<mesh class="left_hand" file="./shadow_hand_menagerie/assets/th_distal_pst.obj" name="left_th_distal_pst"/> |
|
|
</asset> |
|
|
|
|
|
<asset> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/forearm_0.obj" name="right_forearm_0"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/forearm_1.obj" name="right_forearm_1"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/forearm_collision.obj" name="right_forearm_collision"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/wrist.obj" name="right_wrist"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/palm.obj" name="right_palm"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_knuckle.obj" name="right_f_knuckle"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_proximal.obj" name="right_f_proximal"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_middle.obj" name="right_f_middle"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_distal_pst.obj" name="right_f_distal_pst"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/lf_metacarpal.obj" name="right_lf_metacarpal"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/th_proximal.obj" name="right_th_proximal"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/th_middle.obj" name="right_th_middle"/> |
|
|
<mesh class="right_hand" file="./shadow_hand_menagerie/assets/th_distal_pst.obj" name="right_th_distal_pst"/> |
|
|
</asset> |
|
|
|
|
|
<asset> |
|
|
<material name="black" rgba="0.1 0.1 0.1 1"/> |
|
|
<material name="white" rgba="1 1 1 1"/> |
|
|
|
|
|
<mesh file="../../h1/mjcf/assets/pelvis.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_hip_yaw_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_hip_roll_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_hip_pitch_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_knee_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_ankle_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_hip_yaw_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_hip_roll_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_hip_pitch_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_knee_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_ankle_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/torso_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_shoulder_pitch_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_shoulder_roll_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_shoulder_yaw_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/left_elbow_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_shoulder_pitch_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_shoulder_roll_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_shoulder_yaw_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/right_elbow_link.stl"/> |
|
|
<mesh file="../../h1/mjcf/assets/logo_link.stl"/> |
|
|
</asset> |
|
|
|
|
|
<worldbody> |
|
|
<light pos="0 0 10" castshadow="false" directional="true" |
|
|
ambient="0.3 0.3 0.3" diffuse="0.7 0.7 0.7" specular="0.1 0.1 0.1"/> |
|
|
|
|
|
<camera name="cam_kitchen" pos="-0.3 -2.5 2.5" xyaxes="1 0 0 0 0.5 1"/> |
|
|
<body name="pelvis" pos="0 0 0" childclass="h1"> |
|
|
<site name="com" pos="0 0 0" rgba="1 0 0 0" size="0.01"/> |
|
|
<camera name="cam_default" pos="2 3 0.8" mode="trackcom" xyaxes="-1 0.5 0 -0.2 -0.2 1"/> |
|
|
<camera name="cam_maze" pos="3 3 3" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/> |
|
|
<camera name="cam_tabletop" pos="2.5 2 1.5" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/> |
|
|
<camera name="cam_hurdle" pos="-3 3 3" mode="trackcom" xyaxes="-0.5 -0.5 0 0.4 -0.4 1"/> |
|
|
<camera name="cam_basketball" pos="-1.8 3.5 3" mode="trackcom" xyaxes="-0.4 -0.5 0 0.4 -0.4 1"/> |
|
|
<camera name="cam_hand_visible" pos="-1.5 1.5 0.5" mode="trackcom" xyaxes="-0.8 -1 0 0 -0.3 1"/> |
|
|
<camera name="cam_inhand" pos="1.5 1.5 0.5" mode="trackcom" xyaxes="-1 0.8 0 0 -0.3 1"/> |
|
|
<inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39" |
|
|
diaginertia="0.0490211 0.0445821 0.00824619"/> |
|
|
|
|
|
<geom class="visual" mesh="pelvis"/> |
|
|
<geom class="collision" mesh="pelvis"/> |
|
|
<body name="left_hip_yaw_link" pos="0 0.0875 -0.1742"> |
|
|
<inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244" |
|
|
diaginertia="0.00304494 0.00296885 0.00189201"/> |
|
|
<joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> |
|
|
<geom class="visual" mesh="left_hip_yaw_link"/> |
|
|
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> |
|
|
<body name="left_hip_roll_link" pos="0.039468 0 0"> |
|
|
<inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232" |
|
|
diaginertia="0.00243264 0.00225325 0.00205492"/> |
|
|
<joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/> |
|
|
<geom class="visual" mesh="left_hip_roll_link"/> |
|
|
<geom class="collision" mesh="left_hip_roll_link"/> |
|
|
<body name="left_hip_pitch_link" pos="0 0.11536 0"> |
|
|
<inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152" |
|
|
diaginertia="0.0829503 0.0821457 0.00510909"/> |
|
|
<joint name="left_hip_pitch" axis="0 1 0" range="-3.14 2.53"/> |
|
|
<geom class="visual" mesh="left_hip_pitch_link"/> |
|
|
<geom class="collision" mesh="left_hip_pitch_link"/> |
|
|
<body name="left_knee_link" pos="0 0 -0.4"> |
|
|
<inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721" |
|
|
diaginertia="0.0125237 0.0123104 0.0019428"/> |
|
|
<joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/> |
|
|
<geom class="visual" mesh="left_knee_link"/> |
|
|
<geom class="collision" mesh="left_knee_link"/> |
|
|
<body name="left_ankle_link" pos="0 0 -0.4"> |
|
|
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448" |
|
|
diaginertia="0.00362 0.00355701 0.000149987"/> |
|
|
<joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/> |
|
|
<geom class="visual" mesh="left_ankle_link"/> |
|
|
<site name="left_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/> |
|
|
<geom class="collision" mesh="left_ankle_link"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742"> |
|
|
<inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244" |
|
|
diaginertia="0.00304494 0.00296885 0.00189201"/> |
|
|
<joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/> |
|
|
<geom class="visual" mesh="right_hip_yaw_link"/> |
|
|
<geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/> |
|
|
<body name="right_hip_roll_link" pos="0.039468 0 0"> |
|
|
<inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232" |
|
|
diaginertia="0.00243264 0.00225325 0.00205492"/> |
|
|
<joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/> |
|
|
<geom class="visual" mesh="right_hip_roll_link"/> |
|
|
<geom class="collision" mesh="right_hip_roll_link"/> |
|
|
<body name="right_hip_pitch_link" pos="0 -0.11536 0"> |
|
|
<inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152" |
|
|
diaginertia="0.0829503 0.0821457 0.00510909"/> |
|
|
<joint name="right_hip_pitch" axis="0 1 0" range="-3.14 2.53"/> |
|
|
<geom class="visual" mesh="right_hip_pitch_link"/> |
|
|
<geom class="collision" mesh="right_hip_pitch_link"/> |
|
|
<body name="right_knee_link" pos="0 0 -0.4"> |
|
|
<inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721" |
|
|
diaginertia="0.0125237 0.0123104 0.0019428"/> |
|
|
<joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/> |
|
|
<geom class="visual" mesh="right_knee_link"/> |
|
|
<geom class="collision" mesh="right_knee_link"/> |
|
|
<body name="right_ankle_link" pos="0 0 -0.4"> |
|
|
<inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448" |
|
|
diaginertia="0.00362 0.00355701 0.000149987"/> |
|
|
<joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/> |
|
|
<geom class="visual" mesh="right_ankle_link"/> |
|
|
<site name="right_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/> |
|
|
<geom class="collision" mesh="right_ankle_link"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="torso_link"> |
|
|
<site name="left_eye" pos="0.1 0.03 0.65" rgba="1 1 1 1" size="0.01" zaxis="1 0 0" group="1"/> |
|
|
<camera name="left_eye_camera" pos="0.1 0.03 0.65" xyaxes="0 -1 0 0 0 1"/> |
|
|
<site name="right_eye" pos="0.1 -0.03 0.65" rgba="1 1 1 1" size="0.01" zaxis="1 0 0" group="1"/> |
|
|
<camera name="right_eye_camera" pos="0.1 -0.03 0.65" xyaxes="0 -1 0 0 0 1"/> |
|
|
<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" |
|
|
diaginertia="0.487315 0.409628 0.127837"/> |
|
|
<joint name="torso" axis="0 0 1" range="-2.35 2.35"/> |
|
|
<geom class="visual" mesh="torso_link"/> |
|
|
<geom class="collision" mesh="torso_link"/> |
|
|
<geom class="visual" material="white" mesh="logo_link"/> |
|
|
<site name="head" class="visual" size="0.01" pos="0 0 0.7" rgba="1 1 1 1"/> |
|
|
<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/> |
|
|
<body name="left_shoulder_pitch_link" pos="0.0055 0.15535 0.42999" quat="0.976296 0.216438 0 0"> |
|
|
<inertial pos="0.005045 0.053657 -0.015715" quat="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033" |
|
|
diaginertia="0.00129936 0.000987113 0.000858198"/> |
|
|
<joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/> |
|
|
<geom class="visual" mesh="left_shoulder_pitch_link"/> |
|
|
<geom class="collision" mesh="left_shoulder_pitch_link"/> |
|
|
<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0"> |
|
|
<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793" |
|
|
diaginertia="0.00170388 0.00158256 0.00100336"/> |
|
|
<joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/> |
|
|
<geom class="visual" mesh="left_shoulder_roll_link"/> |
|
|
<geom class="collision" mesh="left_shoulder_roll_link"/> |
|
|
<body name="left_shoulder_yaw_link" pos="0 0 -0.1343"> |
|
|
<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839" |
|
|
diaginertia="0.00408038 0.00370367 0.000622687"/> |
|
|
<joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/> |
|
|
<geom class="visual" mesh="left_shoulder_yaw_link"/> |
|
|
<geom class="collision" mesh="left_shoulder_yaw_link"/> |
|
|
<body name="left_elbow_link" pos="0.0185 0 -0.198"> |
|
|
<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669" |
|
|
diaginertia="0.00601829 0.00600579 0.000408305"/> |
|
|
<joint name="left_elbow" axis="0 1 0" range="-1.25 2.61"/> |
|
|
<geom class="visual" mesh="left_elbow_link"/> |
|
|
<geom class="collision" mesh="left_elbow_link"/> |
|
|
<site name="left_hand" pos="0.31 0 -0.01" rgba="0 1 0 1" size="0.01"/> |
|
|
<body name='left_hand' pos='0.169 0 -0.02912' quat="0 1 0 1"> |
|
|
<inertial mass="0.001" pos="0 0 0.001" diaginertia="1e-05 1e-05 1e-05"/> |
|
|
<joint name="left_wrist_yaw" axis="0 0 1" range="-0.15 1.57"/> |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<body name="lh_wrist" pos="0.01 0 0.15301" quat="1 0 0 1"> |
|
|
|
|
|
<inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/> |
|
|
<joint class="left_wrist_y" name="lh_WRJ2"/> |
|
|
<geom class="left_plastic_visual" mesh="left_wrist" material="metallic"/> |
|
|
|
|
|
<geom size="0.011 0.005" pos="0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/> |
|
|
<geom size="0.011 0.005" pos="-0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/> |
|
|
<geom size="0.0135 0.009 0.005" pos="0.021 0 0.011" quat="-0.923879 0 0.382684 0" type="box" |
|
|
class="left_plastic_collision"/> |
|
|
<geom size="0.0135 0.009 0.005" pos="-0.026 0 0.01" quat="-0.923879 0 -0.382684 0" type="box" |
|
|
class="left_plastic_collision"/> |
|
|
<body name="lh_palm" pos="0 0 0.034"> |
|
|
<inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/> |
|
|
<joint class="left_wrist_x" name="lh_WRJ1"/> |
|
|
<geom class="left_plastic_visual" mesh="left_palm"/> |
|
|
<geom size="0.031 0.0035 0.049" pos="-0.011 0.0085 0.038" type="box" class="left_plastic_collision"/> |
|
|
<geom size="0.018 0.0085 0.049" pos="0.002 -0.0035 0.038" type="box" class="left_plastic_collision"/> |
|
|
<geom size="0.013 0.0085 0.005" pos="-0.029 -0.0035 0.082" type="box" class="left_plastic_collision"/> |
|
|
<geom size="0.013 0.007 0.009" pos="-0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 -0.124052" |
|
|
type="box" class="left_plastic_collision"/> |
|
|
<geom size="0.0105 0.0135 0.0112" pos="-0.0315 -0.0085 0.001" type="box" class="left_plastic_collision"/> |
|
|
<geom size="0.011 0.0025 0.015" pos="-0.0125 -0.015 0.004" quat="-0.971338 0 0 -0.237703" type="box" |
|
|
class="left_plastic_collision"/> |
|
|
<geom size="0.009 0.012 0.002" pos="-0.011 0 0.089" type="box" class="left_plastic_collision"/> |
|
|
<geom size="0.01 0.012 0.02" pos="0.03 0 0.009" type="box" class="left_plastic_collision"/> |
|
|
<body name="lh_ffknuckle" pos="-0.033 0 0.095"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="lh_FFJ4" class="left_knuckle" axis="0 1 0"/> |
|
|
<geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/> |
|
|
<body name="lh_ffproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="lh_FFJ3" class="left_proximal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_ffmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="lh_FFJ2" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_ffdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="lh_FFJ1" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_distal_pst"/> |
|
|
<geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="lh_mfknuckle" pos="-0.011 0 0.099"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="lh_MFJ4" class="left_knuckle" axis="0 1 0"/> |
|
|
<geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/> |
|
|
<body name="lh_mfproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="lh_MFJ3" class="left_proximal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_mfmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="lh_MFJ2" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_mfdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="lh_MFJ1" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_distal_pst"/> |
|
|
<geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="lh_rfknuckle" pos="0.011 0 0.095"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="lh_RFJ4" class="left_knuckle"/> |
|
|
<geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/> |
|
|
<body name="lh_rfproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="lh_RFJ3" class="left_proximal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_rfmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="lh_RFJ2" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_rfdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="lh_RFJ1" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_distal_pst"/> |
|
|
<geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="lh_lfmetacarpal" pos="0.033 0 0.02071"> |
|
|
<inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/> |
|
|
<joint name="lh_LFJ5" class="left_metacarpal" axis="0.573576 0 -0.819152"/> |
|
|
<geom class="left_plastic_visual" mesh="left_lf_metacarpal"/> |
|
|
<geom size="0.011 0.012 0.025" pos="-0.002 0 0.033" type="box" class="left_plastic_collision"/> |
|
|
<body name="lh_lfknuckle" pos="0 0 0.06579"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="lh_LFJ4" class="left_knuckle"/> |
|
|
<geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/> |
|
|
<body name="lh_lfproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="lh_LFJ3" class="left_proximal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_lfmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="lh_LFJ2" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/> |
|
|
<body name="lh_lfdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="lh_LFJ1" class="left_middle_distal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_f_distal_pst"/> |
|
|
<geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="lh_thbase" pos="-0.034 -0.00858 0.029" quat="0 -0.382683 0 0.92388"> |
|
|
<inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/> |
|
|
<joint name="lh_THJ5" class="left_thbase"/> |
|
|
<geom class="left_plastic_collision" size="0.013"/> |
|
|
<body name="lh_thproximal"> |
|
|
<inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/> |
|
|
<joint name="lh_THJ4" class="left_thproximal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_th_proximal"/> |
|
|
<geom class="left_plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/> |
|
|
<body name="lh_thhub" pos="0 0 0.038"> |
|
|
<inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/> |
|
|
<joint name="lh_THJ3" class="left_thhub"/> |
|
|
<geom size="0.011" class="left_plastic_collision"/> |
|
|
<body name="lh_thmiddle"> |
|
|
<inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/> |
|
|
<joint name="lh_THJ2" class="left_thmiddle"/> |
|
|
<geom class="left_plastic_visual" mesh="left_th_middle"/> |
|
|
<geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="left_plastic_collision"/> |
|
|
<geom size="0.01" pos="0 0 0.03" class="left_plastic_collision"/> |
|
|
<body name="lh_thdistal" pos="0 0 0.032" quat="1 0 0 -1"> |
|
|
<inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1" |
|
|
diaginertia="2.37794e-06 2.27794e-06 1e-06"/> |
|
|
<joint name="lh_THJ1" class="left_thdistal"/> |
|
|
<geom class="left_plastic_visual" mesh="left_th_distal_pst"/> |
|
|
<geom class="left_plastic_collision" type="mesh" mesh="left_th_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
|
|
|
|
|
|
|
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0"> |
|
|
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033" |
|
|
diaginertia="0.00129936 0.000987113 0.000858198"/> |
|
|
<joint name="right_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/> |
|
|
<geom class="visual" mesh="right_shoulder_pitch_link"/> |
|
|
<geom class="collision" mesh="right_shoulder_pitch_link"/> |
|
|
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0"> |
|
|
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793" |
|
|
diaginertia="0.00170388 0.00158256 0.00100336"/> |
|
|
<joint name="right_shoulder_roll" axis="1 0 0" range="-3.11 0.34"/> |
|
|
<geom class="visual" mesh="right_shoulder_roll_link"/> |
|
|
<geom class="collision" mesh="right_shoulder_roll_link"/> |
|
|
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343"> |
|
|
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839" |
|
|
diaginertia="0.00408038 0.00370367 0.000622687"/> |
|
|
<joint name="right_shoulder_yaw" axis="0 0 1" range="-4.45 1.3"/> |
|
|
<geom class="visual" mesh="right_shoulder_yaw_link"/> |
|
|
<geom class="collision" mesh="right_shoulder_yaw_link"/> |
|
|
<body name="right_elbow_link" pos="0.0185 0 -0.198"> |
|
|
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669" |
|
|
diaginertia="0.00601829 0.00600579 0.000408305"/> |
|
|
<joint name="right_elbow" axis="0 1 0" range="-1.25 2.61"/> |
|
|
<geom class="visual" mesh="right_elbow_link"/> |
|
|
<geom class="collision" mesh="right_elbow_link"/> |
|
|
<site name="right_hand" pos="0.31 0 -0.01" rgba="0 1 0 1" size="0.01"/> |
|
|
<body name='right_hand' pos='0.169 0 -0.02912' quat="0 1 0 1"> |
|
|
<inertial mass="0.001" pos="0 0 0.001" diaginertia="1e-05 1e-05 1e-05"/> |
|
|
<joint name="right_wrist_yaw" axis="0 0 -1" range="-0.15 1.57"/> |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<body name="rh_wrist" pos="0.01 0 0.15301" quat="1 0 0 1"> |
|
|
<inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/> |
|
|
<joint class="right_wrist_y" name="rh_WRJ2"/> |
|
|
<geom class="right_plastic_visual" mesh="right_wrist" material="metallic"/> |
|
|
|
|
|
<geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/> |
|
|
<geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/> |
|
|
<geom size="0.0135 0.009 0.005" pos="-0.021 0 0.011" quat="0.923879 0 0.382684 0" type="box" |
|
|
class="right_plastic_collision"/> |
|
|
<geom size="0.0135 0.009 0.005" pos="0.026 0 0.01" quat="0.923879 0 -0.382684 0" type="box" |
|
|
class="right_plastic_collision"/> |
|
|
<body name="rh_palm" pos="0 0 0.034"> |
|
|
<inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/> |
|
|
<joint class="right_wrist_x" name="rh_WRJ1"/> |
|
|
<geom class="right_plastic_visual" mesh="right_palm"/> |
|
|
<geom size="0.031 0.0035 0.049" pos="0.011 0.0085 0.038" type="box" class="right_plastic_collision"/> |
|
|
<geom size="0.018 0.0085 0.049" pos="-0.002 -0.0035 0.038" type="box" class="right_plastic_collision"/> |
|
|
<geom size="0.013 0.0085 0.005" pos="0.029 -0.0035 0.082" type="box" class="right_plastic_collision"/> |
|
|
<geom size="0.013 0.007 0.009" pos="0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 0.124052" |
|
|
type="box" class="right_plastic_collision"/> |
|
|
<geom size="0.0105 0.0135 0.012" pos="0.0315 -0.0085 0.001" type="box" class="right_plastic_collision"/> |
|
|
<geom size="0.011 0.0025 0.015" pos="0.0125 -0.015 0.004" quat="0.971338 0 0 -0.237703" type="box" |
|
|
class="right_plastic_collision"/> |
|
|
<geom size="0.009 0.012 0.002" pos="0.011 0 0.089" type="box" class="right_plastic_collision"/> |
|
|
<geom size="0.01 0.012 0.02" pos="-0.03 0 0.009" type="box" class="right_plastic_collision"/> |
|
|
<body name="rh_ffknuckle" pos="0.033 0 0.095"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="rh_FFJ4" class="right_knuckle"/> |
|
|
<geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/> |
|
|
<body name="rh_ffproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="rh_FFJ3" class="right_proximal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_ffmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="rh_FFJ2" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_ffdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="rh_FFJ1" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_distal_pst"/> |
|
|
<geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="rh_mfknuckle" pos="0.011 0 0.099"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="rh_MFJ4" class="right_knuckle"/> |
|
|
<geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/> |
|
|
<body name="rh_mfproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="rh_MFJ3" class="right_proximal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_mfmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="rh_MFJ2" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_mfdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="rh_MFJ1" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_distal_pst"/> |
|
|
<geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="rh_rfknuckle" pos="-0.011 0 0.095"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="rh_RFJ4" class="right_knuckle" axis="0 1 0"/> |
|
|
<geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/> |
|
|
<body name="rh_rfproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="rh_RFJ3" class="right_proximal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_rfmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="rh_RFJ2" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_rfdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="rh_RFJ1" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_distal_pst"/> |
|
|
<geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="rh_lfmetacarpal" pos="-0.033 0 0.02071"> |
|
|
<inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/> |
|
|
<joint name="rh_LFJ5" class="right_metacarpal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_lf_metacarpal"/> |
|
|
<geom size="0.011 0.012 0.025" pos="0.002 0 0.033" type="box" class="right_plastic_collision"/> |
|
|
<body name="rh_lfknuckle" pos="0 0 0.06579"> |
|
|
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/> |
|
|
<joint name="rh_LFJ4" class="right_knuckle" axis="0 1 0"/> |
|
|
<geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/> |
|
|
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/> |
|
|
<body name="rh_lfproximal"> |
|
|
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/> |
|
|
<joint name="rh_LFJ3" class="right_proximal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_proximal"/> |
|
|
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_lfmiddle" pos="0 0 0.045"> |
|
|
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/> |
|
|
<joint name="rh_LFJ2" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_middle"/> |
|
|
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/> |
|
|
<body name="rh_lfdistal" pos="0 0 0.025"> |
|
|
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1" |
|
|
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/> |
|
|
<joint name="rh_LFJ1" class="right_middle_distal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_f_distal_pst"/> |
|
|
<geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="rh_thbase" pos="0.034 -0.00858 0.029" quat="0.92388 0 0.382683 0"> |
|
|
<inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/> |
|
|
<joint name="rh_THJ5" class="right_thbase"/> |
|
|
<geom class="right_plastic_collision" size="0.013"/> |
|
|
<body name="rh_thproximal"> |
|
|
<inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/> |
|
|
<joint name="rh_THJ4" class="right_thproximal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_th_proximal"/> |
|
|
<geom class="right_plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/> |
|
|
<body name="rh_thhub" pos="0 0 0.038"> |
|
|
<inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/> |
|
|
<joint name="rh_THJ3" class="right_thhub"/> |
|
|
<geom size="0.011" class="right_plastic_collision"/> |
|
|
<body name="rh_thmiddle"> |
|
|
<inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/> |
|
|
<joint name="rh_THJ2" class="right_thmiddle"/> |
|
|
<geom class="right_plastic_visual" mesh="right_th_middle"/> |
|
|
<geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="right_plastic_collision"/> |
|
|
<geom size="0.01" pos="0 0 0.03" class="right_plastic_collision"/> |
|
|
<body name="rh_thdistal" pos="0 0 0.032" quat="1 0 0 -1"> |
|
|
<inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1" |
|
|
diaginertia="2.37794e-06 2.27794e-06 1e-06"/> |
|
|
<joint name="rh_THJ1" class="right_thdistal"/> |
|
|
<geom class="right_plastic_visual" mesh="right_th_distal_pst"/> |
|
|
<geom class="right_plastic_collision" type="mesh" mesh="right_th_distal_pst"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</worldbody> |
|
|
|
|
|
<actuator> |
|
|
<position name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="left_hip_roll" joint="left_hip_roll" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-3.14 2.53" class="hip" /> |
|
|
<position name="left_knee" joint="left_knee" ctrlrange="-0.26 2.05" class="knee" /> |
|
|
<position name="left_ankle" joint="left_ankle" ctrlrange="-0.87 0.52" class="ankle" /> |
|
|
<position name="right_hip_yaw" joint="right_hip_yaw" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="right_hip_roll" joint="right_hip_roll" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-3.14 2.53" class="hip" /> |
|
|
<position name="right_knee" joint="right_knee" ctrlrange="-0.26 2.05" class="knee" /> |
|
|
<position name="right_ankle" joint="right_ankle" ctrlrange="-0.87 0.52" class="ankle" /> |
|
|
<position name="torso" joint="torso" ctrlrange="-2.35 2.35" class="torso" /> |
|
|
<position name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-2.87 2.87" class="shoulder1" /> |
|
|
<position name="left_shoulder_roll" joint="left_shoulder_roll" ctrlrange="-0.34 3.11" class="shoulder1" /> |
|
|
<position name="left_shoulder_yaw" joint="left_shoulder_yaw" ctrlrange="-1.3 4.45" class="shoulder2" /> |
|
|
<position name="left_elbow" joint="left_elbow" ctrlrange="-1.25 2.61" class="elbow" /> |
|
|
<position name="left_wrist_yaw" joint="left_wrist_yaw" ctrlrange="-0.15 1.57" class="wrist_yaw" /> |
|
|
<position name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-2.87 2.87" class="shoulder1" /> |
|
|
<position name="right_shoulder_roll" joint="right_shoulder_roll" ctrlrange="-3.11 0.34" class="shoulder1" /> |
|
|
<position name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-4.45 1.3" class="shoulder2" /> |
|
|
<position name="right_elbow" joint="right_elbow" ctrlrange="-1.25 2.61" class="elbow" /> |
|
|
<position name="right_wrist_yaw" joint="right_wrist_yaw" ctrlrange="-0.15 1.57" class="wrist_yaw" /> |
|
|
</actuator> |
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<actuator> |
|
|
<position name="lh_A_WRJ2" joint="lh_WRJ2" class="left_wrist_y"/> |
|
|
<position name="lh_A_WRJ1" joint="lh_WRJ1" class="left_wrist_x"/> |
|
|
<position name="lh_A_THJ5" joint="lh_THJ5" class="left_thbase"/> |
|
|
<position name="lh_A_THJ4" joint="lh_THJ4" class="left_thproximal"/> |
|
|
<position name="lh_A_THJ3" joint="lh_THJ3" class="left_thhub"/> |
|
|
<position name="lh_A_THJ2" joint="lh_THJ2" class="left_thmiddle"/> |
|
|
<position name="lh_A_THJ1" joint="lh_THJ1" class="left_thdistal"/> |
|
|
<position name="lh_A_FFJ4" joint="lh_FFJ4" class="left_knuckle"/> |
|
|
<position name="lh_A_FFJ3" joint="lh_FFJ3" class="left_proximal"/> |
|
|
<position name="lh_A_FFJ2" joint="lh_FFJ2" class="left_middle_distal"/> |
|
|
<position name="lh_A_FFJ1" joint="lh_FFJ1" class="left_middle_distal"/> |
|
|
<position name="lh_A_MFJ4" joint="lh_MFJ4" class="left_knuckle"/> |
|
|
<position name="lh_A_MFJ3" joint="lh_MFJ3" class="left_proximal"/> |
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<position name="lh_A_MFJ2" joint="lh_MFJ2" class="left_middle_distal"/> |
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<position name="lh_A_MFJ1" joint="lh_MFJ1" class="left_middle_distal"/> |
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<position name="lh_A_RFJ4" joint="lh_RFJ4" class="left_knuckle"/> |
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<position name="lh_A_RFJ3" joint="lh_RFJ3" class="left_proximal"/> |
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<position name="lh_A_RFJ2" joint="lh_RFJ2" class="left_middle_distal"/> |
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<position name="lh_A_RFJ1" joint="lh_RFJ1" class="left_middle_distal"/> |
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<position name="lh_A_LFJ5" joint="lh_LFJ5" class="left_metacarpal"/> |
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<position name="lh_A_LFJ4" joint="lh_LFJ4" class="left_knuckle"/> |
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<position name="lh_A_LFJ3" joint="lh_LFJ3" class="left_proximal"/> |
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<position name="lh_A_LFJ2" joint="lh_LFJ2" class="left_middle_distal"/> |
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<position name="lh_A_LFJ1" joint="lh_LFJ1" class="left_middle_distal"/> |
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</actuator> |
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<actuator> |
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<position name="rh_A_WRJ2" joint="rh_WRJ2" class="right_wrist_y"/> |
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<position name="rh_A_WRJ1" joint="rh_WRJ1" class="right_wrist_x"/> |
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<position name="rh_A_THJ5" joint="rh_THJ5" class="right_thbase"/> |
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<position name="rh_A_THJ4" joint="rh_THJ4" class="right_thproximal"/> |
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<position name="rh_A_THJ3" joint="rh_THJ3" class="right_thhub"/> |
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<position name="rh_A_THJ2" joint="rh_THJ2" class="right_thmiddle"/> |
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<position name="rh_A_THJ1" joint="rh_THJ1" class="right_thdistal"/> |
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<position name="rh_A_FFJ4" joint="rh_FFJ4" class="right_knuckle"/> |
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<position name="rh_A_FFJ3" joint="rh_FFJ3" class="right_proximal"/> |
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<position name="rh_A_FFJ2" joint="rh_FFJ2" class="right_middle_distal"/> |
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<position name="rh_A_FFJ1" joint="rh_FFJ1" class="right_middle_distal"/> |
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<position name="rh_A_MFJ4" joint="rh_MFJ4" class="right_knuckle"/> |
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<position name="rh_A_MFJ3" joint="rh_MFJ3" class="right_proximal"/> |
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<position name="rh_A_MFJ2" joint="rh_MFJ2" class="right_middle_distal"/> |
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<position name="rh_A_MFJ1" joint="rh_MFJ1" class="right_middle_distal"/> |
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<position name="rh_A_RFJ4" joint="rh_RFJ4" class="right_knuckle"/> |
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<position name="rh_A_RFJ3" joint="rh_RFJ3" class="right_proximal"/> |
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<position name="rh_A_RFJ2" joint="rh_RFJ2" class="right_middle_distal"/> |
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<position name="rh_A_RFJ1" joint="rh_RFJ1" class="right_middle_distal"/> |
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<position name="rh_A_LFJ5" joint="rh_LFJ5" class="right_metacarpal"/> |
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<position name="rh_A_LFJ4" joint="rh_LFJ4" class="right_knuckle"/> |
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<position name="rh_A_LFJ3" joint="rh_LFJ3" class="right_proximal"/> |
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<position name="rh_A_LFJ2" joint="rh_LFJ2" class="right_middle_distal"/> |
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<position name="rh_A_LFJ1" joint="rh_LFJ1" class="right_middle_distal"/> |
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</actuator> |
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<sensor> |
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<touch name="left_foot_sensor" site="left_foot"/> |
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<touch name="right_foot_sensor" site="right_foot"/> |
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<subtreelinvel name="pelvis_subtreelinvel" body="pelvis"/> |
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<subtreelinvel name="left_hand_subtreelinvel" body="left_hand"/> |
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<subtreelinvel name="right_hand_subtreelinvel" body="right_hand"/> |
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<velocimeter name="body_velocimeter" site="com"/> |
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</sensor> |
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</mujoco> |
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