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RoboVerseOrg
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roboverse_data

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Robotics
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31
HaoranG wyzhgxy commited on
Commit
aa2240a
·
verified ·
1 Parent(s): c982117

two shadow hand (#11)

Browse files

- two shadow hand (0db8caf7a55403f4c4a1a8a4e7cc301e1fd2e8fa)
- [fix] change name (d0be42bd88e4ee674becdc045eb1fb83912b0707)


Co-authored-by: yizhuo wu <wyzhgxy@users.noreply.huggingface.co>

Files changed (2) hide show
  1. robots/shadow_hand/mjcf/shadow_hand_left.xml +319 -0
  2. robots/shadow_hand/mjcf/{shadow_hand.xml → shadow_hand_right.xml} +210 -210
robots/shadow_hand/mjcf/shadow_hand_left.xml ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
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+ <mujoco>
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+ <compiler angle="radian" coordinate="local" meshdir="../stls" texturedir="../textures"></compiler>
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+ <option timestep="0.002" iterations="20" apirate="200">
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+ <flag warmstart="enable"></flag>
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+ </option>
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+
8
+ <size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size>
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+
10
+ <visual>
11
+ <map fogstart="3" fogend="5" force="0.1"></map>
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+ <quality shadowsize="4096"></quality>
13
+ </visual>
14
+
15
+ <default>
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+ <default class="robot1_asset_class">
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+ <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
18
+ <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
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+ <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
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+ <general ctrllimited="true" forcelimited="true"></general>
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+ </default>
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+ <default class="robot1_D_Touch">
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+ <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
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+ </default>
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+ <default class="robot1_DC_Hand">
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+ <geom material="robot1_MatColl" contype="1" conaffinity="0" group="4"></geom>
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+ </default>
28
+ <default class="robot1_D_Vizual">
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+ <geom material="robot1_MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
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+ </default>
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+ <default class="robot1_free">
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+ <joint type="free" damping="0" armature="0" limited="false"></joint>
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+ </default>
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+ </default>
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+
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+ <contact>
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+ <pair geom1="robot1_C_ffdistal" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_ffmiddle" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_ffproximal" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_mfproximal" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_mfdistal" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_rfdistal" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfdistal" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_palm0" geom2="robot1_C_thdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_mfdistal" geom2="robot1_C_ffdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_rfdistal" geom2="robot1_C_mfdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfdistal" geom2="robot1_C_rfdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_mfproximal" geom2="robot1_C_ffproximal" condim="1"></pair>
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+ <pair geom1="robot1_C_rfproximal" geom2="robot1_C_mfproximal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfproximal" geom2="robot1_C_rfproximal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfdistal" geom2="robot1_C_rfdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfdistal" geom2="robot1_C_mfdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfdistal" geom2="robot1_C_rfmiddle" condim="1"></pair>
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+ <pair geom1="robot1_C_lfmiddle" geom2="robot1_C_rfdistal" condim="1"></pair>
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+ <pair geom1="robot1_C_lfmiddle" geom2="robot1_C_rfmiddle" condim="1"></pair>
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+ </contact>
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+
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+ <tendon>
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+ <fixed name="robot1_T_FFJ1c" limited="true" range="-0.001 0.001">
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+ <joint joint="robot1_FFJ0" coef="0.00705"></joint>
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+ <joint joint="robot1_FFJ1" coef="-0.00805"></joint>
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+ </fixed>
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+ <fixed name="robot1_T_MFJ1c" limited="true" range="-0.001 0.001">
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+ <joint joint="robot1_MFJ0" coef="0.00705"></joint>
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+ <joint joint="robot1_MFJ1" coef="-0.00805"></joint>
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+ </fixed>
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+ <fixed name="robot1_T_RFJ1c" limited="true" range="-0.001 0.001">
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+ <joint joint="robot1_RFJ0" coef="0.00705"></joint>
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+ <joint joint="robot1_RFJ1" coef="-0.00805"></joint>
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+ </fixed>
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+ <fixed name="robot1_T_LFJ1c" limited="true" range="-0.001 0.001">
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+ <joint joint="robot1_LFJ0" coef="0.00705"></joint>
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+ <joint joint="robot1_LFJ1" coef="-0.00805"></joint>
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+ </fixed>
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+ </tendon>
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+
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+ <sensor>
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+ <jointpos name="robot1_Sjp_WRJ1" joint="robot1_WRJ1"></jointpos>
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+ <jointpos name="robot1_Sjp_WRJ0" joint="robot1_WRJ0"></jointpos>
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+ <jointpos name="robot1_Sjp_FFJ3" joint="robot1_FFJ3"></jointpos>
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+ <jointpos name="robot1_Sjp_FFJ2" joint="robot1_FFJ2"></jointpos>
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+ <jointpos name="robot1_Sjp_FFJ1" joint="robot1_FFJ1"></jointpos>
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+ <jointpos name="robot1_Sjp_FFJ0" joint="robot1_FFJ0"></jointpos>
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+ <jointpos name="robot1_Sjp_MFJ3" joint="robot1_MFJ3"></jointpos>
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+ <jointpos name="robot1_Sjp_MFJ2" joint="robot1_MFJ2"></jointpos>
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+ <jointpos name="robot1_Sjp_MFJ1" joint="robot1_MFJ1"></jointpos>
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+ <jointpos name="robot1_Sjp_MFJ0" joint="robot1_MFJ0"></jointpos>
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+ <jointpos name="robot1_Sjp_RFJ3" joint="robot1_RFJ3"></jointpos>
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+ <jointpos name="robot1_Sjp_RFJ2" joint="robot1_RFJ2"></jointpos>
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+ <jointpos name="robot1_Sjp_RFJ1" joint="robot1_RFJ1"></jointpos>
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+ <jointpos name="robot1_Sjp_RFJ0" joint="robot1_RFJ0"></jointpos>
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+ <jointpos name="robot1_Sjp_LFJ4" joint="robot1_LFJ4"></jointpos>
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+ <jointpos name="robot1_Sjp_LFJ3" joint="robot1_LFJ3"></jointpos>
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+ <jointpos name="robot1_Sjp_LFJ2" joint="robot1_LFJ2"></jointpos>
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+ <jointpos name="robot1_Sjp_LFJ1" joint="robot1_LFJ1"></jointpos>
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+ <jointpos name="robot1_Sjp_LFJ0" joint="robot1_LFJ0"></jointpos>
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+ <jointpos name="robot1_Sjp_THJ4" joint="robot1_THJ4"></jointpos>
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+ <jointpos name="robot1_Sjp_THJ3" joint="robot1_THJ3"></jointpos>
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+ <jointpos name="robot1_Sjp_THJ2" joint="robot1_THJ2"></jointpos>
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+ <jointpos name="robot1_Sjp_THJ1" joint="robot1_THJ1"></jointpos>
101
+ <jointpos name="robot1_Sjp_THJ0" joint="robot1_THJ0"></jointpos>
102
+ <touch name="robot1_ST_Tch_fftip" site="robot1_Tch_fftip"></touch>
103
+ <touch name="robot1_ST_Tch_mftip" site="robot1_Tch_mftip"></touch>
104
+ <touch name="robot1_ST_Tch_rftip" site="robot1_Tch_rftip"></touch>
105
+ <touch name="robot1_ST_Tch_lftip" site="robot1_Tch_lftip"></touch>
106
+ <touch name="robot1_ST_Tch_thtip" site="robot1_Tch_thtip"></touch>
107
+ </sensor>
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+
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+ <actuator>
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+ <position name="robot1_WRJ1" class="robot1_asset_class" user="2038" joint="robot1_WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>
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+ <position name="robot1_WRJ0" class="robot1_asset_class" user="2036" joint="robot1_WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>
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+ <position name="robot1_FFJ3" class="robot1_asset_class" user="2004" joint="robot1_FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_FFJ2" class="robot1_asset_class" user="2002" joint="robot1_FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_FFJ1" class="robot1_asset_class" user="2000" joint="robot1_FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
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+ <position name="robot1_MFJ3" class="robot1_asset_class" user="2010" joint="robot1_MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_MFJ2" class="robot1_asset_class" user="2008" joint="robot1_MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_MFJ1" class="robot1_asset_class" user="2006" joint="robot1_MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
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+ <position name="robot1_RFJ3" class="robot1_asset_class" user="2016" joint="robot1_RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_RFJ2" class="robot1_asset_class" user="2014" joint="robot1_RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
120
+ <position name="robot1_RFJ1" class="robot1_asset_class" user="2012" joint="robot1_RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
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+ <position name="robot1_LFJ4" class="robot1_asset_class" user="2024" joint="robot1_LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_LFJ3" class="robot1_asset_class" user="2022" joint="robot1_LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
123
+ <position name="robot1_LFJ2" class="robot1_asset_class" user="2020" joint="robot1_LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
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+ <position name="robot1_LFJ1" class="robot1_asset_class" user="2018" joint="robot1_LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
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+ <position name="robot1_THJ4" class="robot1_asset_class" user="2034" joint="robot1_THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>
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+ <position name="robot1_THJ3" class="robot1_asset_class" user="2032" joint="robot1_THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>
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+ <position name="robot1_THJ2" class="robot1_asset_class" user="2030" joint="robot1_THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>
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+ <position name="robot1_THJ1" class="robot1_asset_class" user="2028" joint="robot1_THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>
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+ <position name="robot1_THJ0" class="robot1_asset_class" user="2026" joint="robot1_THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position>
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+ </actuator>
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+
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+ <asset>
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+ <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
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+
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+ <texture name="robot1_texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture>
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+ <texture name="robot1_texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture>
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+
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+ <material name="robot1_MatGnd" reflectance="0.5" texture="robot1_texplane" texrepeat="1 1" texuniform="true"></material>
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+ <material name="robot1_MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material>
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+ <material name="robot1_MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material>
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+ <material name="robot1_object" texture="robot1_texgeom" texuniform="false"></material>
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+ <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material>
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+
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+ <mesh name="robot1_forearm" file="forearm_electric.stl"></mesh>
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+ <mesh name="robot1_forearm_cvx" file="forearm_electric_cvx.stl"></mesh>
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+ <mesh name="robot1_wrist" scale="0.001 0.001 0.001" file="wrist.stl"></mesh>
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+ <mesh name="robot1_palm" scale="0.001 0.001 0.001" file="palm.stl"></mesh>
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+ <mesh name="robot1_knuckle" scale="0.001 0.001 0.001" file="knuckle.stl"></mesh>
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+ <mesh name="robot1_F3" scale="0.001 0.001 0.001" file="F3.stl"></mesh>
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+ <mesh name="robot1_F2" scale="0.001 0.001 0.001" file="F2.stl"></mesh>
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+ <mesh name="robot1_F1" scale="0.001 0.001 0.001" file="F1.stl"></mesh>
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+ <mesh name="robot1_lfmetacarpal" scale="0.001 0.001 0.001" file="lfmetacarpal.stl"></mesh>
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+ <mesh name="robot1_TH3_z" scale="0.001 0.001 0.001" file="TH3_z.stl"></mesh>
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+ <mesh name="robot1_TH2_z" scale="0.001 0.001 0.001" file="TH2_z.stl"></mesh>
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+ <mesh name="robot1_TH1_z" scale="0.001 0.001 0.001" file="TH1_z.stl"></mesh>
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+ </asset>
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+
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+ <worldbody>
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+ <body name="robot1_hand mount" pos="1 1.25 0.15" euler="1.5708 0 3.14159">
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+ <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
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+ <body childclass="robot1_asset_class" name="robot1_forearm" pos="0 0.01 0" euler="0 0 0">
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+ <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>
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+ <geom class="robot1_D_Vizual" pos="0 0.01 0.04" name="robot1_V_forearm" mesh="robot1_forearm" euler="0 0 1.57"></geom>
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+ <geom class="robot1_DC_Hand" name="robot1_C_forearm" type="mesh" mesh="robot1_forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
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+ <body name="robot1_wrist" pos="0 0 0.256">
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+ <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>
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+ <joint name="robot1_WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005" user="1123"></joint>
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+ <geom class="robot1_D_Vizual" name="robot1_V_wrist" mesh="robot1_wrist"></geom>
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+ <geom class="robot1_DC_Hand" name="robot1_C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
170
+ <body name="robot1_palm" pos="0 0 0.034">
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+ <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
172
+ <joint name="robot1_WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005" user="1122"></joint>
173
+ <geom class="robot1_D_Vizual" name="robot1_V_palm" mesh="robot1_palm"></geom>
174
+ <geom class="robot1_DC_Hand" name="robot1_C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
175
+ <geom class="robot1_DC_Hand" name="robot1_C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
176
+ <body name="robot1_ffknuckle" pos="0.033 0 0.095">
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+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
178
+ <joint name="robot1_FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
179
+ <geom class="robot1_D_Vizual" name="robot1_V_ffknuckle" mesh="robot1_knuckle"></geom>
180
+ <body name="robot1_ffproximal" pos="0 0 0">
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+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
182
+ <joint name="robot1_FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
183
+ <geom class="robot1_D_Vizual" name="robot1_V_ffproximal" mesh="robot1_F3"></geom>
184
+ <geom class="robot1_DC_Hand" name="robot1_C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
185
+ <body name="robot1_ffmiddle" pos="0 0 0.045">
186
+ <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
187
+ <joint name="robot1_FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
188
+ <geom class="robot1_D_Vizual" name="robot1_V_ffmiddle" mesh="robot1_F2"></geom>
189
+ <geom class="robot1_DC_Hand" name="robot1_C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
190
+ <body name="robot1_ffdistal" pos="0 0 0.025">
191
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
192
+ <joint name="robot1_FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
193
+ <geom class="robot1_D_Vizual" name="robot1_V_ffdistal" pos="0 0 0.001" mesh="robot1_F1"></geom>
194
+ <geom class="robot1_DC_Hand" name="robot1_C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
195
+ <site name="robot1_S_fftip" pos="0 0 0.026" group="3"></site>
196
+ <site class="robot1_D_Touch" name="robot1_Tch_fftip"></site>
197
+ </body>
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+ </body>
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+ </body>
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+ </body>
201
+ <body name="robot1_mfknuckle" pos="0.011 0 0.099">
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+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
203
+ <joint name="robot1_MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
204
+ <geom class="robot1_D_Vizual" name="robot1_V_mfknuckle" mesh="robot1_knuckle"></geom>
205
+ <body name="robot1_mfproximal" pos="0 0 0">
206
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
207
+ <joint name="robot1_MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
208
+ <geom class="robot1_D_Vizual" name="robot1_V_mfproximal" mesh="robot1_F3"></geom>
209
+ <geom class="robot1_DC_Hand" name="robot1_C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
210
+ <body name="robot1_mfmiddle" pos="0 0 0.045">
211
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
212
+ <joint name="robot1_MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
213
+ <geom class="robot1_D_Vizual" name="robot1_V_mfmiddle" mesh="robot1_F2"></geom>
214
+ <geom class="robot1_DC_Hand" name="robot1_C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
215
+ <body name="robot1_mfdistal" pos="0 0 0.025">
216
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
217
+ <joint name="robot1_MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
218
+ <geom class="robot1_D_Vizual" name="robot1_V_mfdistal" mesh="robot1_F1"></geom>
219
+ <geom class="robot1_DC_Hand" name="robot1_C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
220
+ <site name="robot1_S_mftip" pos="0 0 0.026" group="3"></site>
221
+ <site class="robot1_D_Touch" name="robot1_Tch_mftip"></site>
222
+ </body>
223
+ </body>
224
+ </body>
225
+ </body>
226
+ <body name="robot1_rfknuckle" pos="-0.011 0 0.095">
227
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
228
+ <joint name="robot1_RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
229
+ <geom class="robot1_D_Vizual" name="robot1_V_rfknuckle" mesh="robot1_knuckle"></geom>
230
+ <body name="robot1_rfproximal" pos="0 0 0">
231
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
232
+ <joint name="robot1_RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
233
+ <geom class="robot1_D_Vizual" name="robot1_V_rfproximal" mesh="robot1_F3"></geom>
234
+ <geom class="robot1_DC_Hand" name="robot1_C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
235
+ <body name="robot1_rfmiddle" pos="0 0 0.045">
236
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
237
+ <joint name="robot1_RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
238
+ <geom class="robot1_D_Vizual" name="robot1_V_rfmiddle" mesh="robot1_F2"></geom>
239
+ <geom class="robot1_DC_Hand" name="robot1_C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
240
+ <body name="robot1_rfdistal" pos="0 0 0.025">
241
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
242
+ <joint name="robot1_RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
243
+ <geom class="robot1_D_Vizual" name="robot1_V_rfdistal" mesh="robot1_F1" pos="0 0 0.001"></geom>
244
+ <geom class="robot1_DC_Hand" name="robot1_C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
245
+ <site name="robot1_S_rftip" pos="0 0 0.026" group="3"></site>
246
+ <site class="robot1_D_Touch" name="robot1_Tch_rftip"></site>
247
+ </body>
248
+ </body>
249
+ </body>
250
+ </body>
251
+ <body name="robot1_lfmetacarpal" pos="-0.017 0 0.044">
252
+ <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
253
+ <joint name="robot1_LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
254
+ <geom class="robot1_D_Vizual" name="robot1_V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot1_lfmetacarpal"></geom>
255
+ <geom class="robot1_DC_Hand" name="robot1_C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
256
+ <body name="robot1_lfknuckle" pos="-0.017 0 0.044">
257
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
258
+ <joint name="robot1_LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
259
+ <geom class="robot1_D_Vizual" name="robot1_V_lfknuckle" mesh="robot1_knuckle"></geom>
260
+ <body name="robot1_lfproximal" pos="0 0 0">
261
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
262
+ <joint name="robot1_LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
263
+ <geom class="robot1_D_Vizual" name="robot1_V_lfproximal" mesh="robot1_F3"></geom>
264
+ <geom class="robot1_DC_Hand" name="robot1_C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
265
+ <body name="robot1_lfmiddle" pos="0 0 0.045">
266
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
267
+ <joint name="robot1_LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
268
+ <geom class="robot1_D_Vizual" name="robot1_V_lfmiddle" mesh="robot1_F2"></geom>
269
+ <geom class="robot1_DC_Hand" name="robot1_C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
270
+ <body name="robot1_lfdistal" pos="0 0 0.025">
271
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
272
+ <joint name="robot1_LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
273
+ <geom class="robot1_D_Vizual" name="robot1_V_lfdistal" mesh="robot1_F1" pos="0 0 0.001"></geom>
274
+ <geom class="robot1_DC_Hand" name="robot1_C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
275
+ <site name="robot1_S_lftip" pos="0 0 0.026" group="3"></site>
276
+ <site class="robot1_D_Touch" name="robot1_Tch_lftip"></site>
277
+ </body>
278
+ </body>
279
+ </body>
280
+ </body>
281
+ </body>
282
+ <body name="robot1_thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
283
+ <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
284
+ <joint name="robot1_THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
285
+ <geom name="robot1_V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
286
+ <body name="robot1_thproximal" pos="0 0 0">
287
+ <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
288
+ <joint name="robot1_THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
289
+ <geom class="robot1_D_Vizual" name="robot1_V_thproximal" mesh="robot1_TH3_z"></geom>
290
+ <geom class="robot1_DC_Hand" name="robot1_C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
291
+ <body name="robot1_thhub" pos="0 0 0.038">
292
+ <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
293
+ <joint name="robot1_THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
294
+ <geom name="robot1_V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
295
+ <body name="robot1_thmiddle" pos="0 0 0">
296
+ <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
297
+ <joint name="robot1_THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
298
+ <geom class="robot1_D_Vizual" name="robot1_V_thmiddle" mesh="robot1_TH2_z"></geom>
299
+ <geom class="robot1_DC_Hand" name="robot1_C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
300
+ <body name="robot1_thdistal" pos="0 0 0.032">
301
+ <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
302
+ <joint name="robot1_THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
303
+ <geom class="robot1_D_Vizual" name="robot1_V_thdistal" mesh="robot1_TH1_z"></geom>
304
+ <geom class="robot1_DC_Hand" name="robot1_C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
305
+ <site name="robot1_S_thtip" pos="0 0 0.0275" group="3"></site>
306
+ <site class="robot1_D_Touch" name="robot1_Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
307
+ </body>
308
+ </body>
309
+ </body>
310
+ </body>
311
+ </body>
312
+ </body>
313
+ </body>
314
+ </body>
315
+ </body>
316
+
317
+ <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>
318
+ </worldbody>
319
+ </mujoco>
robots/shadow_hand/mjcf/{shadow_hand.xml → shadow_hand_right.xml} RENAMED
@@ -13,297 +13,297 @@
13
  </visual>
14
 
15
  <default>
16
- <default class="robot0:asset_class">
17
  <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
18
  <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
19
  <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
20
  <general ctrllimited="true" forcelimited="true"></general>
21
  </default>
22
- <default class="robot0:D_Touch">
23
  <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
24
  </default>
25
- <default class="robot0:DC_Hand">
26
- <geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom>
27
  </default>
28
- <default class="robot0:D_Vizual">
29
- <geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
30
  </default>
31
- <default class="robot0:free">
32
  <joint type="free" damping="0" armature="0" limited="false"></joint>
33
  </default>
34
  </default>
35
 
36
  <contact>
37
- <pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1"></pair>
38
- <pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1"></pair>
39
- <pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1"></pair>
40
- <pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1"></pair>
41
- <pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
42
- <pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
43
- <pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
44
- <pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1"></pair>
45
- <pair geom1="robot0:C_mfdistal" geom2="robot0:C_ffdistal" condim="1"></pair>
46
- <pair geom1="robot0:C_rfdistal" geom2="robot0:C_mfdistal" condim="1"></pair>
47
- <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair>
48
- <pair geom1="robot0:C_mfproximal" geom2="robot0:C_ffproximal" condim="1"></pair>
49
- <pair geom1="robot0:C_rfproximal" geom2="robot0:C_mfproximal" condim="1"></pair>
50
- <pair geom1="robot0:C_lfproximal" geom2="robot0:C_rfproximal" condim="1"></pair>
51
- <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair>
52
- <pair geom1="robot0:C_lfdistal" geom2="robot0:C_mfdistal" condim="1"></pair>
53
- <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfmiddle" condim="1"></pair>
54
- <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfdistal" condim="1"></pair>
55
- <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfmiddle" condim="1"></pair>
56
  </contact>
57
 
58
  <tendon>
59
- <fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001">
60
- <joint joint="robot0:FFJ0" coef="0.00705"></joint>
61
- <joint joint="robot0:FFJ1" coef="-0.00805"></joint>
62
  </fixed>
63
- <fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001">
64
- <joint joint="robot0:MFJ0" coef="0.00705"></joint>
65
- <joint joint="robot0:MFJ1" coef="-0.00805"></joint>
66
  </fixed>
67
- <fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001">
68
- <joint joint="robot0:RFJ0" coef="0.00705"></joint>
69
- <joint joint="robot0:RFJ1" coef="-0.00805"></joint>
70
  </fixed>
71
- <fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001">
72
- <joint joint="robot0:LFJ0" coef="0.00705"></joint>
73
- <joint joint="robot0:LFJ1" coef="-0.00805"></joint>
74
  </fixed>
75
  </tendon>
76
 
77
  <sensor>
78
- <jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos>
79
- <jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos>
80
- <jointpos name="robot0:Sjp_FFJ3" joint="robot0:FFJ3"></jointpos>
81
- <jointpos name="robot0:Sjp_FFJ2" joint="robot0:FFJ2"></jointpos>
82
- <jointpos name="robot0:Sjp_FFJ1" joint="robot0:FFJ1"></jointpos>
83
- <jointpos name="robot0:Sjp_FFJ0" joint="robot0:FFJ0"></jointpos>
84
- <jointpos name="robot0:Sjp_MFJ3" joint="robot0:MFJ3"></jointpos>
85
- <jointpos name="robot0:Sjp_MFJ2" joint="robot0:MFJ2"></jointpos>
86
- <jointpos name="robot0:Sjp_MFJ1" joint="robot0:MFJ1"></jointpos>
87
- <jointpos name="robot0:Sjp_MFJ0" joint="robot0:MFJ0"></jointpos>
88
- <jointpos name="robot0:Sjp_RFJ3" joint="robot0:RFJ3"></jointpos>
89
- <jointpos name="robot0:Sjp_RFJ2" joint="robot0:RFJ2"></jointpos>
90
- <jointpos name="robot0:Sjp_RFJ1" joint="robot0:RFJ1"></jointpos>
91
- <jointpos name="robot0:Sjp_RFJ0" joint="robot0:RFJ0"></jointpos>
92
- <jointpos name="robot0:Sjp_LFJ4" joint="robot0:LFJ4"></jointpos>
93
- <jointpos name="robot0:Sjp_LFJ3" joint="robot0:LFJ3"></jointpos>
94
- <jointpos name="robot0:Sjp_LFJ2" joint="robot0:LFJ2"></jointpos>
95
- <jointpos name="robot0:Sjp_LFJ1" joint="robot0:LFJ1"></jointpos>
96
- <jointpos name="robot0:Sjp_LFJ0" joint="robot0:LFJ0"></jointpos>
97
- <jointpos name="robot0:Sjp_THJ4" joint="robot0:THJ4"></jointpos>
98
- <jointpos name="robot0:Sjp_THJ3" joint="robot0:THJ3"></jointpos>
99
- <jointpos name="robot0:Sjp_THJ2" joint="robot0:THJ2"></jointpos>
100
- <jointpos name="robot0:Sjp_THJ1" joint="robot0:THJ1"></jointpos>
101
- <jointpos name="robot0:Sjp_THJ0" joint="robot0:THJ0"></jointpos>
102
- <touch name="robot0:ST_Tch_fftip" site="robot0:Tch_fftip"></touch>
103
- <touch name="robot0:ST_Tch_mftip" site="robot0:Tch_mftip"></touch>
104
- <touch name="robot0:ST_Tch_rftip" site="robot0:Tch_rftip"></touch>
105
- <touch name="robot0:ST_Tch_lftip" site="robot0:Tch_lftip"></touch>
106
- <touch name="robot0:ST_Tch_thtip" site="robot0:Tch_thtip"></touch>
107
  </sensor>
108
 
109
  <actuator>
110
- <position name="robot0:WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>
111
- <position name="robot0:WRJ0" class="robot0:asset_class" user="2036" joint="robot0:WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>
112
- <position name="robot0:FFJ3" class="robot0:asset_class" user="2004" joint="robot0:FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
113
- <position name="robot0:FFJ2" class="robot0:asset_class" user="2002" joint="robot0:FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
114
- <position name="robot0:FFJ1" class="robot0:asset_class" user="2000" joint="robot0:FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
115
- <position name="robot0:MFJ3" class="robot0:asset_class" user="2010" joint="robot0:MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
116
- <position name="robot0:MFJ2" class="robot0:asset_class" user="2008" joint="robot0:MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
117
- <position name="robot0:MFJ1" class="robot0:asset_class" user="2006" joint="robot0:MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
118
- <position name="robot0:RFJ3" class="robot0:asset_class" user="2016" joint="robot0:RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
119
- <position name="robot0:RFJ2" class="robot0:asset_class" user="2014" joint="robot0:RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
120
- <position name="robot0:RFJ1" class="robot0:asset_class" user="2012" joint="robot0:RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
121
- <position name="robot0:LFJ4" class="robot0:asset_class" user="2024" joint="robot0:LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>
122
- <position name="robot0:LFJ3" class="robot0:asset_class" user="2022" joint="robot0:LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
123
- <position name="robot0:LFJ2" class="robot0:asset_class" user="2020" joint="robot0:LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
124
- <position name="robot0:LFJ1" class="robot0:asset_class" user="2018" joint="robot0:LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
125
- <position name="robot0:THJ4" class="robot0:asset_class" user="2034" joint="robot0:THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>
126
- <position name="robot0:THJ3" class="robot0:asset_class" user="2032" joint="robot0:THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>
127
- <position name="robot0:THJ2" class="robot0:asset_class" user="2030" joint="robot0:THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>
128
- <position name="robot0:THJ1" class="robot0:asset_class" user="2028" joint="robot0:THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>
129
- <position name="robot0:THJ0" class="robot0:asset_class" user="2026" joint="robot0:THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position>
130
  </actuator>
131
 
132
  <asset>
133
  <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
134
 
135
- <texture name="robot0:texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture>
136
- <texture name="robot0:texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture>
137
 
138
- <material name="robot0:MatGnd" reflectance="0.5" texture="robot0:texplane" texrepeat="1 1" texuniform="true"></material>
139
- <material name="robot0:MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material>
140
- <material name="robot0:MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material>
141
- <material name="robot0:object" texture="robot0:texgeom" texuniform="false"></material>
142
  <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material>
143
 
144
- <mesh name="robot0:forearm" file="forearm_electric.stl"></mesh>
145
- <mesh name="robot0:forearm_cvx" file="forearm_electric_cvx.stl"></mesh>
146
- <mesh name="robot0:wrist" scale="0.001 0.001 0.001" file="wrist.stl"></mesh>
147
- <mesh name="robot0:palm" scale="0.001 0.001 0.001" file="palm.stl"></mesh>
148
- <mesh name="robot0:knuckle" scale="0.001 0.001 0.001" file="knuckle.stl"></mesh>
149
- <mesh name="robot0:F3" scale="0.001 0.001 0.001" file="F3.stl"></mesh>
150
- <mesh name="robot0:F2" scale="0.001 0.001 0.001" file="F2.stl"></mesh>
151
- <mesh name="robot0:F1" scale="0.001 0.001 0.001" file="F1.stl"></mesh>
152
- <mesh name="robot0:lfmetacarpal" scale="0.001 0.001 0.001" file="lfmetacarpal.stl"></mesh>
153
- <mesh name="robot0:TH3_z" scale="0.001 0.001 0.001" file="TH3_z.stl"></mesh>
154
- <mesh name="robot0:TH2_z" scale="0.001 0.001 0.001" file="TH2_z.stl"></mesh>
155
- <mesh name="robot0:TH1_z" scale="0.001 0.001 0.001" file="TH1_z.stl"></mesh>
156
  </asset>
157
 
158
  <worldbody>
159
- <body name="robot0:hand mount" pos="0 0 0" euler="1.5708 0 3.14159">
160
  <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
161
- <body childclass="robot0:asset_class" name="robot0:forearm" pos="0 0.01 0" euler="0 0 0">
162
  <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
163
- <geom class="robot0:D_Vizual" pos="0 0.01 0.04" name="robot0:V_forearm" mesh="robot0:forearm" euler="0 0 1.57"></geom>
164
- <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>
165
- <body name="robot0:wrist" pos="0 0 0.256">
166
  <inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
167
- <joint name="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>
168
- <geom class="robot0:D_Vizual" name="robot0:V_wrist" mesh="robot0:wrist"></geom>
169
- <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>
170
- <body name="robot0:palm" pos="0 0 0.034">
171
  <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
172
- <joint name="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>
173
- <geom class="robot0:D_Vizual" name="robot0:V_palm" mesh="robot0:palm"></geom>
174
- <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>
175
- <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>
176
- <body name="robot0:ffknuckle" pos="0.033 0 0.095">
177
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
178
- <joint name="robot0:FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
179
- <geom class="robot0:D_Vizual" name="robot0:V_ffknuckle" mesh="robot0:knuckle"></geom>
180
- <body name="robot0:ffproximal" pos="0 0 0">
181
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
182
- <joint name="robot0:FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
183
- <geom class="robot0:D_Vizual" name="robot0:V_ffproximal" mesh="robot0:F3"></geom>
184
- <geom class="robot0:DC_Hand" name="robot0:C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
185
- <body name="robot0:ffmiddle" pos="0 0 0.045">
186
  <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
187
- <joint name="robot0:FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
188
- <geom class="robot0:D_Vizual" name="robot0:V_ffmiddle" mesh="robot0:F2"></geom>
189
- <geom class="robot0:DC_Hand" name="robot0:C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
190
- <body name="robot0:ffdistal" pos="0 0 0.025">
191
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
192
- <joint name="robot0:FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
193
- <geom class="robot0:D_Vizual" name="robot0:V_ffdistal" pos="0 0 0.001" mesh="robot0:F1"></geom>
194
- <geom class="robot0:DC_Hand" name="robot0:C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
195
- <site name="robot0:S_fftip" pos="0 0 0.026" group="3"></site>
196
- <site class="robot0:D_Touch" name="robot0:Tch_fftip"></site>
197
  </body>
198
  </body>
199
  </body>
200
  </body>
201
- <body name="robot0:mfknuckle" pos="0.011 0 0.099">
202
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
203
- <joint name="robot0:MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
204
- <geom class="robot0:D_Vizual" name="robot0:V_mfknuckle" mesh="robot0:knuckle"></geom>
205
- <body name="robot0:mfproximal" pos="0 0 0">
206
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
207
- <joint name="robot0:MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
208
- <geom class="robot0:D_Vizual" name="robot0:V_mfproximal" mesh="robot0:F3"></geom>
209
- <geom class="robot0:DC_Hand" name="robot0:C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
210
- <body name="robot0:mfmiddle" pos="0 0 0.045">
211
  <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
212
- <joint name="robot0:MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
213
- <geom class="robot0:D_Vizual" name="robot0:V_mfmiddle" mesh="robot0:F2"></geom>
214
- <geom class="robot0:DC_Hand" name="robot0:C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
215
- <body name="robot0:mfdistal" pos="0 0 0.025">
216
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
217
- <joint name="robot0:MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
218
- <geom class="robot0:D_Vizual" name="robot0:V_mfdistal" mesh="robot0:F1"></geom>
219
- <geom class="robot0:DC_Hand" name="robot0:C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
220
- <site name="robot0:S_mftip" pos="0 0 0.026" group="3"></site>
221
- <site class="robot0:D_Touch" name="robot0:Tch_mftip"></site>
222
  </body>
223
  </body>
224
  </body>
225
  </body>
226
- <body name="robot0:rfknuckle" pos="-0.011 0 0.095">
227
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
228
- <joint name="robot0:RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
229
- <geom class="robot0:D_Vizual" name="robot0:V_rfknuckle" mesh="robot0:knuckle"></geom>
230
- <body name="robot0:rfproximal" pos="0 0 0">
231
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
232
- <joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
233
- <geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3"></geom>
234
- <geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
235
- <body name="robot0:rfmiddle" pos="0 0 0.045">
236
  <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
237
- <joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
238
- <geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2"></geom>
239
- <geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
240
- <body name="robot0:rfdistal" pos="0 0 0.025">
241
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
242
- <joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
243
- <geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
244
- <geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
245
- <site name="robot0:S_rftip" pos="0 0 0.026" group="3"></site>
246
- <site class="robot0:D_Touch" name="robot0:Tch_rftip"></site>
247
  </body>
248
  </body>
249
  </body>
250
  </body>
251
- <body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
252
  <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
253
- <joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
254
- <geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom>
255
- <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>
256
- <body name="robot0:lfknuckle" pos="-0.017 0 0.044">
257
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
258
- <joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
259
- <geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle"></geom>
260
- <body name="robot0:lfproximal" pos="0 0 0">
261
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
262
- <joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
263
- <geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3"></geom>
264
- <geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
265
- <body name="robot0:lfmiddle" pos="0 0 0.045">
266
  <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
267
- <joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
268
- <geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2"></geom>
269
- <geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
270
- <body name="robot0:lfdistal" pos="0 0 0.025">
271
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
272
- <joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
273
- <geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
274
- <geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
275
- <site name="robot0:S_lftip" pos="0 0 0.026" group="3"></site>
276
- <site class="robot0:D_Touch" name="robot0:Tch_lftip"></site>
277
  </body>
278
  </body>
279
  </body>
280
  </body>
281
  </body>
282
- <body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
283
  <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
284
- <joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
285
- <geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
286
- <body name="robot0:thproximal" pos="0 0 0">
287
  <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
288
- <joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
289
- <geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z"></geom>
290
- <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>
291
- <body name="robot0:thhub" pos="0 0 0.038">
292
  <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
293
- <joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
294
- <geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
295
- <body name="robot0:thmiddle" pos="0 0 0">
296
  <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
297
- <joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
298
- <geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z"></geom>
299
- <geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
300
- <body name="robot0:thdistal" pos="0 0 0.032">
301
  <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
302
- <joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
303
- <geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z"></geom>
304
- <geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
305
- <site name="robot0:S_thtip" pos="0 0 0.0275" group="3"></site>
306
- <site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
307
  </body>
308
  </body>
309
  </body>
 
13
  </visual>
14
 
15
  <default>
16
+ <default class="robot0_asset_class">
17
  <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
18
  <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
19
  <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
20
  <general ctrllimited="true" forcelimited="true"></general>
21
  </default>
22
+ <default class="robot0_D_Touch">
23
  <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
24
  </default>
25
+ <default class="robot0_DC_Hand">
26
+ <geom material="robot0_MatColl" contype="1" conaffinity="0" group="4"></geom>
27
  </default>
28
+ <default class="robot0_D_Vizual">
29
+ <geom material="robot0_MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
30
  </default>
31
+ <default class="robot0_free">
32
  <joint type="free" damping="0" armature="0" limited="false"></joint>
33
  </default>
34
  </default>
35
 
36
  <contact>
37
+ <pair geom1="robot0_C_ffdistal" geom2="robot0_C_thdistal" condim="1"></pair>
38
+ <pair geom1="robot0_C_ffmiddle" geom2="robot0_C_thdistal" condim="1"></pair>
39
+ <pair geom1="robot0_C_ffproximal" geom2="robot0_C_thdistal" condim="1"></pair>
40
+ <pair geom1="robot0_C_mfproximal" geom2="robot0_C_thdistal" condim="1"></pair>
41
+ <pair geom1="robot0_C_mfdistal" geom2="robot0_C_thdistal" condim="1"></pair>
42
+ <pair geom1="robot0_C_rfdistal" geom2="robot0_C_thdistal" condim="1"></pair>
43
+ <pair geom1="robot0_C_lfdistal" geom2="robot0_C_thdistal" condim="1"></pair>
44
+ <pair geom1="robot0_C_palm0" geom2="robot0_C_thdistal" condim="1"></pair>
45
+ <pair geom1="robot0_C_mfdistal" geom2="robot0_C_ffdistal" condim="1"></pair>
46
+ <pair geom1="robot0_C_rfdistal" geom2="robot0_C_mfdistal" condim="1"></pair>
47
+ <pair geom1="robot0_C_lfdistal" geom2="robot0_C_rfdistal" condim="1"></pair>
48
+ <pair geom1="robot0_C_mfproximal" geom2="robot0_C_ffproximal" condim="1"></pair>
49
+ <pair geom1="robot0_C_rfproximal" geom2="robot0_C_mfproximal" condim="1"></pair>
50
+ <pair geom1="robot0_C_lfproximal" geom2="robot0_C_rfproximal" condim="1"></pair>
51
+ <pair geom1="robot0_C_lfdistal" geom2="robot0_C_rfdistal" condim="1"></pair>
52
+ <pair geom1="robot0_C_lfdistal" geom2="robot0_C_mfdistal" condim="1"></pair>
53
+ <pair geom1="robot0_C_lfdistal" geom2="robot0_C_rfmiddle" condim="1"></pair>
54
+ <pair geom1="robot0_C_lfmiddle" geom2="robot0_C_rfdistal" condim="1"></pair>
55
+ <pair geom1="robot0_C_lfmiddle" geom2="robot0_C_rfmiddle" condim="1"></pair>
56
  </contact>
57
 
58
  <tendon>
59
+ <fixed name="robot0_T_FFJ1c" limited="true" range="-0.001 0.001">
60
+ <joint joint="robot0_FFJ0" coef="0.00705"></joint>
61
+ <joint joint="robot0_FFJ1" coef="-0.00805"></joint>
62
  </fixed>
63
+ <fixed name="robot0_T_MFJ1c" limited="true" range="-0.001 0.001">
64
+ <joint joint="robot0_MFJ0" coef="0.00705"></joint>
65
+ <joint joint="robot0_MFJ1" coef="-0.00805"></joint>
66
  </fixed>
67
+ <fixed name="robot0_T_RFJ1c" limited="true" range="-0.001 0.001">
68
+ <joint joint="robot0_RFJ0" coef="0.00705"></joint>
69
+ <joint joint="robot0_RFJ1" coef="-0.00805"></joint>
70
  </fixed>
71
+ <fixed name="robot0_T_LFJ1c" limited="true" range="-0.001 0.001">
72
+ <joint joint="robot0_LFJ0" coef="0.00705"></joint>
73
+ <joint joint="robot0_LFJ1" coef="-0.00805"></joint>
74
  </fixed>
75
  </tendon>
76
 
77
  <sensor>
78
+ <jointpos name="robot0_Sjp_WRJ1" joint="robot0_WRJ1"></jointpos>
79
+ <jointpos name="robot0_Sjp_WRJ0" joint="robot0_WRJ0"></jointpos>
80
+ <jointpos name="robot0_Sjp_FFJ3" joint="robot0_FFJ3"></jointpos>
81
+ <jointpos name="robot0_Sjp_FFJ2" joint="robot0_FFJ2"></jointpos>
82
+ <jointpos name="robot0_Sjp_FFJ1" joint="robot0_FFJ1"></jointpos>
83
+ <jointpos name="robot0_Sjp_FFJ0" joint="robot0_FFJ0"></jointpos>
84
+ <jointpos name="robot0_Sjp_MFJ3" joint="robot0_MFJ3"></jointpos>
85
+ <jointpos name="robot0_Sjp_MFJ2" joint="robot0_MFJ2"></jointpos>
86
+ <jointpos name="robot0_Sjp_MFJ1" joint="robot0_MFJ1"></jointpos>
87
+ <jointpos name="robot0_Sjp_MFJ0" joint="robot0_MFJ0"></jointpos>
88
+ <jointpos name="robot0_Sjp_RFJ3" joint="robot0_RFJ3"></jointpos>
89
+ <jointpos name="robot0_Sjp_RFJ2" joint="robot0_RFJ2"></jointpos>
90
+ <jointpos name="robot0_Sjp_RFJ1" joint="robot0_RFJ1"></jointpos>
91
+ <jointpos name="robot0_Sjp_RFJ0" joint="robot0_RFJ0"></jointpos>
92
+ <jointpos name="robot0_Sjp_LFJ4" joint="robot0_LFJ4"></jointpos>
93
+ <jointpos name="robot0_Sjp_LFJ3" joint="robot0_LFJ3"></jointpos>
94
+ <jointpos name="robot0_Sjp_LFJ2" joint="robot0_LFJ2"></jointpos>
95
+ <jointpos name="robot0_Sjp_LFJ1" joint="robot0_LFJ1"></jointpos>
96
+ <jointpos name="robot0_Sjp_LFJ0" joint="robot0_LFJ0"></jointpos>
97
+ <jointpos name="robot0_Sjp_THJ4" joint="robot0_THJ4"></jointpos>
98
+ <jointpos name="robot0_Sjp_THJ3" joint="robot0_THJ3"></jointpos>
99
+ <jointpos name="robot0_Sjp_THJ2" joint="robot0_THJ2"></jointpos>
100
+ <jointpos name="robot0_Sjp_THJ1" joint="robot0_THJ1"></jointpos>
101
+ <jointpos name="robot0_Sjp_THJ0" joint="robot0_THJ0"></jointpos>
102
+ <touch name="robot0_ST_Tch_fftip" site="robot0_Tch_fftip"></touch>
103
+ <touch name="robot0_ST_Tch_mftip" site="robot0_Tch_mftip"></touch>
104
+ <touch name="robot0_ST_Tch_rftip" site="robot0_Tch_rftip"></touch>
105
+ <touch name="robot0_ST_Tch_lftip" site="robot0_Tch_lftip"></touch>
106
+ <touch name="robot0_ST_Tch_thtip" site="robot0_Tch_thtip"></touch>
107
  </sensor>
108
 
109
  <actuator>
110
+ <position name="robot0_WRJ1" class="robot0_asset_class" user="2038" joint="robot0_WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>
111
+ <position name="robot0_WRJ0" class="robot0_asset_class" user="2036" joint="robot0_WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>
112
+ <position name="robot0_FFJ3" class="robot0_asset_class" user="2004" joint="robot0_FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
113
+ <position name="robot0_FFJ2" class="robot0_asset_class" user="2002" joint="robot0_FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
114
+ <position name="robot0_FFJ1" class="robot0_asset_class" user="2000" joint="robot0_FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
115
+ <position name="robot0_MFJ3" class="robot0_asset_class" user="2010" joint="robot0_MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
116
+ <position name="robot0_MFJ2" class="robot0_asset_class" user="2008" joint="robot0_MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
117
+ <position name="robot0_MFJ1" class="robot0_asset_class" user="2006" joint="robot0_MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
118
+ <position name="robot0_RFJ3" class="robot0_asset_class" user="2016" joint="robot0_RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
119
+ <position name="robot0_RFJ2" class="robot0_asset_class" user="2014" joint="robot0_RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
120
+ <position name="robot0_RFJ1" class="robot0_asset_class" user="2012" joint="robot0_RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
121
+ <position name="robot0_LFJ4" class="robot0_asset_class" user="2024" joint="robot0_LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>
122
+ <position name="robot0_LFJ3" class="robot0_asset_class" user="2022" joint="robot0_LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
123
+ <position name="robot0_LFJ2" class="robot0_asset_class" user="2020" joint="robot0_LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
124
+ <position name="robot0_LFJ1" class="robot0_asset_class" user="2018" joint="robot0_LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
125
+ <position name="robot0_THJ4" class="robot0_asset_class" user="2034" joint="robot0_THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>
126
+ <position name="robot0_THJ3" class="robot0_asset_class" user="2032" joint="robot0_THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>
127
+ <position name="robot0_THJ2" class="robot0_asset_class" user="2030" joint="robot0_THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>
128
+ <position name="robot0_THJ1" class="robot0_asset_class" user="2028" joint="robot0_THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>
129
+ <position name="robot0_THJ0" class="robot0_asset_class" user="2026" joint="robot0_THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position>
130
  </actuator>
131
 
132
  <asset>
133
  <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
134
 
135
+ <texture name="robot0_texplane" type="2d" builtin="checker" rgb1="0.2 0.3 0.4" rgb2="0.1 0.15 0.2" width="512" height="512"></texture>
136
+ <texture name="robot0_texgeom" type="cube" builtin="flat" mark="cross" width="127" height="127" rgb1="0.3 0.6 0.5" rgb2="0.3 0.6 0.5" markrgb="0 0 0" random="0.01"></texture>
137
 
138
+ <material name="robot0_MatGnd" reflectance="0.5" texture="robot0_texplane" texrepeat="1 1" texuniform="true"></material>
139
+ <material name="robot0_MatColl" specular="1" shininess="0.3" reflectance="0.5" rgba="0.4 0.5 0.6 1"></material>
140
+ <material name="robot0_MatViz" specular="0.75" shininess="0.1" reflectance="0.5" rgba="0.93 0.93 0.93 1"></material>
141
+ <material name="robot0_object" texture="robot0_texgeom" texuniform="false"></material>
142
  <material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 0"></material>
143
 
144
+ <mesh name="robot0_forearm" file="forearm_electric.stl"></mesh>
145
+ <mesh name="robot0_forearm_cvx" file="forearm_electric_cvx.stl"></mesh>
146
+ <mesh name="robot0_wrist" scale="0.001 0.001 0.001" file="wrist.stl"></mesh>
147
+ <mesh name="robot0_palm" scale="0.001 0.001 0.001" file="palm.stl"></mesh>
148
+ <mesh name="robot0_knuckle" scale="0.001 0.001 0.001" file="knuckle.stl"></mesh>
149
+ <mesh name="robot0_F3" scale="0.001 0.001 0.001" file="F3.stl"></mesh>
150
+ <mesh name="robot0_F2" scale="0.001 0.001 0.001" file="F2.stl"></mesh>
151
+ <mesh name="robot0_F1" scale="0.001 0.001 0.001" file="F1.stl"></mesh>
152
+ <mesh name="robot0_lfmetacarpal" scale="0.001 0.001 0.001" file="lfmetacarpal.stl"></mesh>
153
+ <mesh name="robot0_TH3_z" scale="0.001 0.001 0.001" file="TH3_z.stl"></mesh>
154
+ <mesh name="robot0_TH2_z" scale="0.001 0.001 0.001" file="TH2_z.stl"></mesh>
155
+ <mesh name="robot0_TH1_z" scale="0.001 0.001 0.001" file="TH1_z.stl"></mesh>
156
  </asset>
157
 
158
  <worldbody>
159
+ <body name="robot0_hand mount" pos="1 1.25 0.15" euler="1.5708 0 3.14159">
160
  <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
161
+ <body childclass="robot0_asset_class" name="robot0_forearm" pos="0 0.01 0" euler="0 0 0">
162
  <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
163
+ <geom class="robot0_D_Vizual" pos="0 0.01 0.04" name="robot0_V_forearm" mesh="robot0_forearm" euler="0 0 1.57"></geom>
164
+ <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>
165
+ <body name="robot0_wrist" pos="0 0 0.256">
166
  <inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
167
+ <joint name="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>
168
+ <geom class="robot0_D_Vizual" name="robot0_V_wrist" mesh="robot0_wrist"></geom>
169
+ <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>
170
+ <body name="robot0_palm" pos="0 0 0.034">
171
  <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
172
+ <joint name="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>
173
+ <geom class="robot0_D_Vizual" name="robot0_V_palm" mesh="robot0_palm"></geom>
174
+ <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>
175
+ <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>
176
+ <body name="robot0_ffknuckle" pos="0.033 0 0.095">
177
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
178
+ <joint name="robot0_FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
179
+ <geom class="robot0_D_Vizual" name="robot0_V_ffknuckle" mesh="robot0_knuckle"></geom>
180
+ <body name="robot0_ffproximal" pos="0 0 0">
181
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
182
+ <joint name="robot0_FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
183
+ <geom class="robot0_D_Vizual" name="robot0_V_ffproximal" mesh="robot0_F3"></geom>
184
+ <geom class="robot0_DC_Hand" name="robot0_C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
185
+ <body name="robot0_ffmiddle" pos="0 0 0.045">
186
  <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
187
+ <joint name="robot0_FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
188
+ <geom class="robot0_D_Vizual" name="robot0_V_ffmiddle" mesh="robot0_F2"></geom>
189
+ <geom class="robot0_DC_Hand" name="robot0_C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
190
+ <body name="robot0_ffdistal" pos="0 0 0.025">
191
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
192
+ <joint name="robot0_FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
193
+ <geom class="robot0_D_Vizual" name="robot0_V_ffdistal" pos="0 0 0.001" mesh="robot0_F1"></geom>
194
+ <geom class="robot0_DC_Hand" name="robot0_C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
195
+ <site name="robot0_S_fftip" pos="0 0 0.026" group="3"></site>
196
+ <site class="robot0_D_Touch" name="robot0_Tch_fftip"></site>
197
  </body>
198
  </body>
199
  </body>
200
  </body>
201
+ <body name="robot0_mfknuckle" pos="0.011 0 0.099">
202
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
203
+ <joint name="robot0_MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
204
+ <geom class="robot0_D_Vizual" name="robot0_V_mfknuckle" mesh="robot0_knuckle"></geom>
205
+ <body name="robot0_mfproximal" pos="0 0 0">
206
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
207
+ <joint name="robot0_MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
208
+ <geom class="robot0_D_Vizual" name="robot0_V_mfproximal" mesh="robot0_F3"></geom>
209
+ <geom class="robot0_DC_Hand" name="robot0_C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
210
+ <body name="robot0_mfmiddle" pos="0 0 0.045">
211
  <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
212
+ <joint name="robot0_MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
213
+ <geom class="robot0_D_Vizual" name="robot0_V_mfmiddle" mesh="robot0_F2"></geom>
214
+ <geom class="robot0_DC_Hand" name="robot0_C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
215
+ <body name="robot0_mfdistal" pos="0 0 0.025">
216
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
217
+ <joint name="robot0_MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
218
+ <geom class="robot0_D_Vizual" name="robot0_V_mfdistal" mesh="robot0_F1"></geom>
219
+ <geom class="robot0_DC_Hand" name="robot0_C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
220
+ <site name="robot0_S_mftip" pos="0 0 0.026" group="3"></site>
221
+ <site class="robot0_D_Touch" name="robot0_Tch_mftip"></site>
222
  </body>
223
  </body>
224
  </body>
225
  </body>
226
+ <body name="robot0_rfknuckle" pos="-0.011 0 0.095">
227
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
228
+ <joint name="robot0_RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
229
+ <geom class="robot0_D_Vizual" name="robot0_V_rfknuckle" mesh="robot0_knuckle"></geom>
230
+ <body name="robot0_rfproximal" pos="0 0 0">
231
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
232
+ <joint name="robot0_RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
233
+ <geom class="robot0_D_Vizual" name="robot0_V_rfproximal" mesh="robot0_F3"></geom>
234
+ <geom class="robot0_DC_Hand" name="robot0_C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
235
+ <body name="robot0_rfmiddle" pos="0 0 0.045">
236
  <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
237
+ <joint name="robot0_RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
238
+ <geom class="robot0_D_Vizual" name="robot0_V_rfmiddle" mesh="robot0_F2"></geom>
239
+ <geom class="robot0_DC_Hand" name="robot0_C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
240
+ <body name="robot0_rfdistal" pos="0 0 0.025">
241
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
242
+ <joint name="robot0_RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
243
+ <geom class="robot0_D_Vizual" name="robot0_V_rfdistal" mesh="robot0_F1" pos="0 0 0.001"></geom>
244
+ <geom class="robot0_DC_Hand" name="robot0_C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
245
+ <site name="robot0_S_rftip" pos="0 0 0.026" group="3"></site>
246
+ <site class="robot0_D_Touch" name="robot0_Tch_rftip"></site>
247
  </body>
248
  </body>
249
  </body>
250
  </body>
251
+ <body name="robot0_lfmetacarpal" pos="-0.017 0 0.044">
252
  <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
253
+ <joint name="robot0_LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
254
+ <geom class="robot0_D_Vizual" name="robot0_V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0_lfmetacarpal"></geom>
255
+ <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>
256
+ <body name="robot0_lfknuckle" pos="-0.017 0 0.044">
257
  <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
258
+ <joint name="robot0_LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
259
+ <geom class="robot0_D_Vizual" name="robot0_V_lfknuckle" mesh="robot0_knuckle"></geom>
260
+ <body name="robot0_lfproximal" pos="0 0 0">
261
  <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
262
+ <joint name="robot0_LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
263
+ <geom class="robot0_D_Vizual" name="robot0_V_lfproximal" mesh="robot0_F3"></geom>
264
+ <geom class="robot0_DC_Hand" name="robot0_C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
265
+ <body name="robot0_lfmiddle" pos="0 0 0.045">
266
  <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
267
+ <joint name="robot0_LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
268
+ <geom class="robot0_D_Vizual" name="robot0_V_lfmiddle" mesh="robot0_F2"></geom>
269
+ <geom class="robot0_DC_Hand" name="robot0_C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
270
+ <body name="robot0_lfdistal" pos="0 0 0.025">
271
  <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
272
+ <joint name="robot0_LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
273
+ <geom class="robot0_D_Vizual" name="robot0_V_lfdistal" mesh="robot0_F1" pos="0 0 0.001"></geom>
274
+ <geom class="robot0_DC_Hand" name="robot0_C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
275
+ <site name="robot0_S_lftip" pos="0 0 0.026" group="3"></site>
276
+ <site class="robot0_D_Touch" name="robot0_Tch_lftip"></site>
277
  </body>
278
  </body>
279
  </body>
280
  </body>
281
  </body>
282
+ <body name="robot0_thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
283
  <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
284
+ <joint name="robot0_THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
285
+ <geom name="robot0_V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
286
+ <body name="robot0_thproximal" pos="0 0 0">
287
  <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
288
+ <joint name="robot0_THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
289
+ <geom class="robot0_D_Vizual" name="robot0_V_thproximal" mesh="robot0_TH3_z"></geom>
290
+ <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>
291
+ <body name="robot0_thhub" pos="0 0 0.038">
292
  <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
293
+ <joint name="robot0_THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
294
+ <geom name="robot0_V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
295
+ <body name="robot0_thmiddle" pos="0 0 0">
296
  <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
297
+ <joint name="robot0_THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
298
+ <geom class="robot0_D_Vizual" name="robot0_V_thmiddle" mesh="robot0_TH2_z"></geom>
299
+ <geom class="robot0_DC_Hand" name="robot0_C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
300
+ <body name="robot0_thdistal" pos="0 0 0.032">
301
  <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
302
+ <joint name="robot0_THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
303
+ <geom class="robot0_D_Vizual" name="robot0_V_thdistal" mesh="robot0_TH1_z"></geom>
304
+ <geom class="robot0_DC_Hand" name="robot0_C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
305
+ <site name="robot0_S_thtip" pos="0 0 0.0275" group="3"></site>
306
+ <site class="robot0_D_Touch" name="robot0_Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
307
  </body>
308
  </body>
309
  </body>