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<mujoco model="ability_hand"> |
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<compiler angle="radian" meshdir="assets/" /> |
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<default> |
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<geom density="800" condim="1" contype="0" conaffinity="0" /> |
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<position kp="300" dampratio="1.0" inheritrange="1" /> |
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<joint damping="0.0" armature="1.0" frictionloss="0.0" /> |
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<site size="0.01" type="sphere" rgba="1 0 0 1" group="3" /> |
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</default> |
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<asset> |
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" |
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height="3072" /> |
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<texture type="2d" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" |
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rgb2="0.1 0.2 0.3" |
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markrgb="0.8 0.8 0.8" width="300" height="300" /> |
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<material name="left_groundplane" texture="left_groundplane" texuniform="true" |
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texrepeat="5 5" |
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reflectance="0.2" /> |
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<mesh name="left_wristmesh" file="wristmesh.obj" /> |
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<mesh name="left_wristmesh_C" file="wristmesh_C.obj" /> |
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<mesh name="left_FB_palm_ref_MIR" file="FB_palm_ref_MIR.obj" /> |
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<mesh name="left_thumb-F1-MIR" file="thumb-F1-MIR.obj" /> |
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<mesh name="left_thumb-F1-MIR_C" file="thumb-F1-MIR_C.obj" /> |
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<mesh name="left_thumb-F2" file="thumb-F2.obj" /> |
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<mesh name="left_thumb-F2_C" file="thumb-F2_C.obj" /> |
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<mesh name="left_idx-F1" file="idx-F1.obj" /> |
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<mesh name="left_idx-F2" file="idx-F2.obj" /> |
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<mesh name="left_idx-F2_C" file="idx-F2_C.obj" /> |
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</asset> |
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<worldbody> |
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<light pos="0 0 3.5" dir="0 0 -1" directional="false" /> |
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<body name="R_forearm_ty_link"> |
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<camera name="left_track" pos="-0.868 -0.348 -0.175" |
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xyaxes="-0.037 0.999 -0.000 -0.011 -0.000 1.000" /> |
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<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
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<joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5" |
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/> |
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<body name="R_forearm_tz_link"> |
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<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
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<joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5" |
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/> |
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<body name="R_forearm_roll_link"> |
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<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
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<joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5" |
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/> |
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<body name="R_forearm_pitch_link"> |
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<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
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<joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2" |
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/> |
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<body name="R_forearm_yaw_link"> |
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<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01" /> |
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<joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2" |
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/> |
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<body name="left_base"> |
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quat="0.206138 0.349162 0.787163 0.464724" mass="0.4" |
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diaginertia="0.00194995 0.00194995 0.00178617" /> |
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<joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2" |
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/> |
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<geom name="left_wrist_mesh" type="mesh" contype="0" conaffinity="0" group="1" |
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density="0" mesh="left_wristmesh" /> |
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<geom name="collision_hand_left_palm_0" type="mesh" mesh="left_wristmesh_C" |
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group="3" /> |
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<geom name="left_palm_mesh" pos="-0.0240477 0.00378125 0.0323296" |
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quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" contype="0" |
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conaffinity="0" group="1" density="0" mesh="left_FB_palm_ref_MIR" /> |
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<geom name="collision_hand_left_palm_1" pos="-0.0240477 0.00378125 0.0323296" |
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quat="0.0442297 0.00061027 -0.999021 -2.70192e-05" type="mesh" |
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mesh="left_FB_palm_ref_MIR" group="3" /> |
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<geom type="box" name="collision_hand_left_palm_2" size="0.03 0.02 0.04" |
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pos="0 0 0.05" contype="0" conaffinity="0" group="3" |
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density="0" rgba="0 1 0 1" /> |
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<site name="left_palm" pos="0 0 0" type="box" |
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size="0.01 0.02 0.03" quat="1 0 0 -1" /> |
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<body name="left_thumb_L1" pos="-0.0240477 0.00378125 0.0323296" |
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quat="-0.0947972 0.0440301 -0.00419696 0.994514"> |
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diaginertia="8.14795e-05 7.42718e-05 1.14409e-05" /> |
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quat="0.608761 0.793353 0 0" |
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type="mesh" contype="0" conaffinity="0" group="1" density="0" |
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mesh="left_thumb-F1-MIR" /> |
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quat="0.608761 0.793353 0 0" type="mesh" |
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mesh="left_thumb-F1-MIR_C" group="3" /> |
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density="0" rgba="0 1 0 1" /> |
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diaginertia="0.00180207 0.00170892 0.000287855" /> |
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<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1.0" |
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<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" |
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quat="0.685906 0.0469401 -0.714459 -0.129917"> |
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diaginertia="0.000381765 0.000369601 2.96432e-05" /> |
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density="0" mesh="left_idx-F1" /> |
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pos="0.019 -0.0045 0" quat="0.999108 0 0 0.0422374" |
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type="box" group="3" /> |
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pos="-0.001 0 0.007" quat="0.999108 0 0 0.0422374" |
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type="box" group="3" /> |
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density="0" rgba="0 1 0 1" /> |
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contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" /> |
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density="0" rgba="0 1 0 1" /> |
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quat="0.721351 0.0986547 -0.681173 -0.0769649"> |
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pos="0.019 -0.0045 0" contype="0" conaffinity="0" group="3" |
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density="0" rgba="0 1 0 1" /> |
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quat="0.999108 0 0 0.0422244"> |
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quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" |
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diaginertia="0.000264645 0.000263553 1.71391e-05" /> |
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contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" /> |
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density="0" rgba="0 1 0 1" /> |
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quat="0.719226 0.122363 -0.681748 -0.0544096"> |
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diaginertia="0.000381765 0.000369601 2.96432e-05" /> |
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<body name="left_pinky_L2" pos="0.0384727 0.0032577 0" |
|
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quat="0.999108 0 0 0.0422244"> |
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<inertial pos="0.0133682 -0.00875392 -2.886e-05" |
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quat="-0.161363 0.673074 0.216775 0.688434" mass="0.00645" |
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diaginertia="0.000264645 0.000263553 1.71391e-05" /> |
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<joint name="left_pinky_q2" pos="0 0 0" axis="0 0 -1" range="0 1.0" |
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/> |
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<geom name="left_pinky_mesh_2" pos="0.0091241 0 0" quat="1 0 0 0" type="mesh" |
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contype="0" conaffinity="0" group="1" density="0" mesh="left_idx-F2" /> |
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<geom type="mesh" mesh="left_idx-F2_C" /> |
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<geom size="0.007" pos="0.03 -0.016 0" /> |
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<geom name="collision_hand_left_pinky_0" type="capsule" size="0.007" |
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fromto="0 0 0 0.03 -0.016 0" contype="0" conaffinity="0" group="3" |
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density="0" rgba="0 1 0 1" /> |
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<site name="left_pinky_tip" pos="0.03 -0.016 0" /> |
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<site name="track_hand_left_pinky_tip" pos="0.03 -0.016 0" /> |
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<site name="trace_hand_left_pinky_tip" pos="0.03 -0.016 0" /> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</body> |
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</worldbody> |
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<actuator> |
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<position name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" kp="1000" /> |
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<position name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" kp="1000" /> |
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<position name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" kp="1000" /> |
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<position name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" kp="1000" /> |
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<position name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" kp="1000" /> |
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<position name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" kp="1000" /> |
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<position name="left_thumb_q1_position" joint="left_thumb_q1" /> |
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<position name="left_thumb_q2_position" joint="left_thumb_q2" /> |
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<position name="left_index_q1_position" joint="left_index_q1" /> |
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<position name="left_index_q2_position" joint="left_index_q2" /> |
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<position name="left_middle_q1_position" joint="left_middle_q1" /> |
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<position name="left_middle_q2_position" joint="left_middle_q2" /> |
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<position name="left_ring_q1_position" joint="left_ring_q1" /> |
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<position name="left_ring_q2_position" joint="left_ring_q2" /> |
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<position name="left_pinky_q1_position" joint="left_pinky_q1" /> |
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<position name="left_pinky_q2_position" joint="left_pinky_q2" /> |
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</actuator> |
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</mujoco> |
