jc-bao
commited on
Commit
·
53f6f15
1
Parent(s):
4b6fbe8
⚡ update fair_mon example data with updated ik pipeline
Browse files- processed/fair_fre/metahand/right/pickcup/scene.xml +538 -327
- processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz +3 -0
- processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz +3 -0
- processed/fair_mon/allegro/right/cat/0/visualization_ik.mp4 +3 -0
- processed/fair_mon/allegro/right/cat/scene.xml +465 -0
- processed/fair_mon/allegro/right/cat/scene_eq.xml +476 -0
- processed/fair_mon/allegro/right/cat/task_info.json +10 -0
- processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz +3 -0
- processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz +1 -1
- processed/fair_mon/mano/right/cat/task_info.json +2 -2
- processed/fair_mon/mano/right/coke/0/trajectory_kinematic.npz +2 -2
- processed/fair_mon/mano/right/coke/task_info.json +1 -1
processed/fair_fre/metahand/right/pickcup/scene.xml
CHANGED
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@@ -1,273 +1,302 @@
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| 1 |
<mujoco model="metahand_right">
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| 2 |
-
<compiler angle="radian" meshdir="
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| 3 |
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<option timestep="0.01" iterations="10">
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| 5 |
-
<flag eulerdamp="disable"/>
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</option>
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<visual>
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| 9 |
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<global azimuth="140" elevation="-20"/>
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| 10 |
-
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
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| 11 |
-
<rgba haze="0.15 0.25 0.35 1"/>
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| 12 |
</visual>
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| 13 |
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<default>
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<default class="mimic_right">
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| 16 |
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<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
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</default>
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<default class="metahand_right">
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| 19 |
-
<joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2"
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-
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<
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<default class="right_visual">
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| 23 |
-
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
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<default class="right_palm_visual">
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| 25 |
-
<geom mesh="right_base_link"/>
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</default>
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<default class="right_base_visual">
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-
<geom mesh="right_link_0.0"/>
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</default>
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<default class="right_proximal_visual">
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-
<geom mesh="right_link_1.0"/>
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</default>
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<default class="right_medial_visual">
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-
<geom mesh="right_link_2.0"/>
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</default>
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<default class="right_distal_visual">
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-
<geom mesh="right_link_3.0"/>
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</default>
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<default class="right_fingertip_visual">
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<geom material="right_white" mesh="right_link_3.0_tip"/>
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</default>
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| 42 |
<default class="right_thumbtip_visual">
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<geom material="right_white" mesh="right_link_15.0_tip"/>
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</default>
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</default>
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<default class="right_collision">
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-
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
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<default class="right_palm_collision">
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-
<geom size="0.0204 0.0565 0.0475"/>
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</default>
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<default class="right_base_collision">
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<geom size="0.0098 0.01375 0.0082"/>
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<default class="right_thumb_base_collision">
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<geom size="0.0179 0.017 0.02275"/>
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</default>
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</default>
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<default class="right_proximal_collision">
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-
<geom size="0.0098 0.01375 0.027"/>
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<default class="right_thumb_proximal_collision">
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-
<geom size="0.0098 0.01375 0.00885"/>
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</default>
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</default>
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<default class="right_medial_collision">
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<geom size="0.0098 0.01375 0.0192"/>
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<default class="right_thumb_medial_collision">
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<geom size="0.0098 0.01375 0.0257"/>
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</default>
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</default>
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<default class="right_distal_collision">
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<geom size="0.0098 0.01375 0.008"/>
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<default class="right_thumb_distal_collision">
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<geom size="0.0098 0.01375 0.0157"/>
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</default>
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</default>
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<default class="right_fingertip_collision">
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<geom size="0.01235 0 0" type="capsule"/>
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-
<default class="right_thumbtip_collision"/>
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</default>
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</default>
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<default class="right_base_slide">
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-
<joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
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-
<general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
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</default>
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<default class="right_base_hinge">
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<joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
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<general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
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</default>
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<default class="right_base">
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<joint range="-0.47 0.47"/>
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<general ctrlrange="-0.47 0.47"/>
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</default>
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<default class="right_proximal">
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<joint range="0.196 1.61"/>
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<general ctrlrange="0.196 1.61"/>
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</default>
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<default class="right_medial">
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<joint range="0.174 1.709"/>
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<general ctrlrange="0.174 1.709"/>
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</default>
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<default class="right_distal">
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<joint range="0.227 1.618"/>
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<general ctrlrange="0.227 1.618"/>
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</default>
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<default class="right_thumb_base">
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<joint range="0.263 1.396"/>
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<general ctrlrange="0.263 1.396"/>
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</default>
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<default class="right_thumb_proximal">
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<joint range="0.105 1.163"/>
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<general ctrlrange="0.105 1.163"/>
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</default>
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<default class="right_thumb_medial">
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<joint range="0.189 1.644"/>
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<general ctrlrange="0.189 1.644"/>
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</default>
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<default class="right_thumb_distal">
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<joint range="0.162 1.719"/>
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<general ctrlrange="0.162 1.719"/>
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</default>
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</default>
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</default>
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<asset>
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-
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
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-
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<texture type="
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<
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<
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-
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<
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<
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<
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-
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<
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<mesh name="
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<mesh name="
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-
<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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-
<mesh name="
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-
<mesh name="
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-
<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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</asset>
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<worldbody>
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<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
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<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
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-
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<body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
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| 159 |
-
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
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| 160 |
-
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
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| 161 |
-
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
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| 162 |
-
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
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| 163 |
-
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
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| 164 |
-
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
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| 165 |
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<geom class="right_palm_visual" mesh="right_base_link"/>
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<geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475"
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-
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<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
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-
<joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
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<geom class="right_base_visual" mesh="right_link_0.0"/>
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<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082"
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<body name="right_ff_proximal" pos="0 0 0.0164">
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-
<joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_proximal_visual" mesh="right_link_1.0"/>
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<geom name="right_index_proximal_collision" class="right_proximal_collision"
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<body name="right_ff_medial" pos="0 0 0.054">
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<joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
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| 178 |
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<geom class="right_medial_visual" mesh="right_link_2.0"/>
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<geom name="right_index_intermediate_collision" class="right_medial_collision"
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<body name="right_ff_distal" pos="0 0 0.0384">
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<joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_distal_visual" mesh="right_link_3.0"/>
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<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008"
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<body name="right_ff_tip">
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<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
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<geom name="right_index_collision" class="right_fingertip_collision"
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-
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<site name="
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<site name="
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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 name="right_mf_base" pos="0 0 0.0007">
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<joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
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<geom class="right_base_visual" mesh="right_link_0.0"/>
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<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082"
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<body name="right_mf_proximal" pos="0 0 0.0164">
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<joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_proximal_visual" mesh="right_link_1.0"/>
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<geom name="right_middle_proximal_collision" class="right_proximal_collision"
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<body name="right_mf_medial" pos="0 0 0.054">
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<joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_medial_visual" mesh="right_link_2.0"/>
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<geom name="right_middle_intermediate_collision" class="right_medial_collision"
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<body name="right_mf_distal" pos="0 0 0.0384">
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<joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_distal_visual" mesh="right_link_3.0"/>
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<geom name="right_middle_distal_collision" class="right_distal_collision"
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<body name="right_mf_tip">
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<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
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<geom name="right_middle_collision" class="right_fingertip_collision"
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-
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<site name="
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<site name="
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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 name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
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<joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1"/>
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<geom class="right_base_visual" mesh="right_link_0.0"/>
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<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082"
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<body name="right_rf_proximal" pos="0 0 0.0164">
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-
<joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_proximal_visual" mesh="right_link_1.0"/>
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<geom name="right_ring_proximal_collision" class="right_proximal_collision"
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<body name="right_rf_medial" pos="0 0 0.054">
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<joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_medial_visual" mesh="right_link_2.0"/>
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<geom name="right_ring_intermediate_collision" class="right_medial_collision"
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<body name="right_rf_distal" pos="0 0 0.0384">
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<joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_distal_visual" mesh="right_link_3.0"/>
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<geom name="right_ring_distal_collision" class="right_distal_collision"
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<body name="right_rf_tip">
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<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
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<geom name="right_ring_collision" class="right_fingertip_collision"
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-
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<site name="
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-
<site name="
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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 name="right_th_base" pos="-0.0182 0.019333 -0.045987"
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-
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-
<
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-
<geom
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<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
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-
<joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
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<geom class="right_visual" mesh="right_link_13.0"/>
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<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision"
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<body name="right_th_medial" pos="0 0 0.0177">
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-
<joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
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| 259 |
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<geom class="right_visual" mesh="right_link_14.0"/>
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<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision"
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<body name="right_th_distal" pos="0 0 0.0514">
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-
<joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
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<geom class="right_visual" mesh="right_link_15.0"/>
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<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision"
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<body name="right_th_tip">
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-
<geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip"/>
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<geom name="right_thumb_collision" class="right_thumbtip_collision"
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-
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<site name="
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-
<site name="
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</body>
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</body>
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</body>
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@@ -275,196 +304,378 @@
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</body>
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</body>
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<body name="right_object">
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-
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false"
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-
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<geom name="
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-
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<geom name="
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-
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<geom name="
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-
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<geom name="
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-
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<
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<
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-
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<
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-
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</body>
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<body name="ref_object_right_thumb_tip" mocap="true">
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-
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
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</body>
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<body name="ref_hand_right_thumb_tip" mocap="true">
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-
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
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</body>
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<body name="ref_object_right_index_tip" mocap="true">
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-
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
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| 303 |
</body>
|
| 304 |
<body name="ref_hand_right_index_tip" mocap="true">
|
| 305 |
-
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 306 |
</body>
|
| 307 |
<body name="ref_object_right_middle_tip" mocap="true">
|
| 308 |
-
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 309 |
</body>
|
| 310 |
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 311 |
-
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 312 |
</body>
|
| 313 |
<body name="ref_object_right_ring_tip" mocap="true">
|
| 314 |
-
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 315 |
</body>
|
| 316 |
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 317 |
-
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 318 |
</body>
|
| 319 |
</worldbody>
|
| 320 |
|
| 321 |
<contact>
|
| 322 |
-
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008"
|
| 323 |
-
|
| 324 |
-
<pair geom1="floor" geom2="
|
| 325 |
-
|
| 326 |
-
<pair geom1="floor" geom2="
|
| 327 |
-
|
| 328 |
-
<pair geom1="floor" geom2="
|
| 329 |
-
|
| 330 |
-
<pair geom1="
|
| 331 |
-
|
| 332 |
-
<pair geom1="
|
| 333 |
-
|
| 334 |
-
<pair geom1="
|
| 335 |
-
|
| 336 |
-
<pair geom1="
|
| 337 |
-
|
| 338 |
-
<pair geom1="
|
| 339 |
-
|
| 340 |
-
<pair geom1="
|
| 341 |
-
|
| 342 |
-
<pair geom1="
|
| 343 |
-
|
| 344 |
-
<pair geom1="
|
| 345 |
-
|
| 346 |
-
<pair geom1="
|
| 347 |
-
|
| 348 |
-
<pair geom1="
|
| 349 |
-
|
| 350 |
-
<pair geom1="
|
| 351 |
-
|
| 352 |
-
<pair geom1="
|
| 353 |
-
|
| 354 |
-
<pair geom1="
|
| 355 |
-
|
| 356 |
-
|
| 357 |
-
<pair geom1="
|
| 358 |
-
|
| 359 |
-
|
| 360 |
-
<pair geom1="
|
| 361 |
-
|
| 362 |
-
|
| 363 |
-
<pair geom1="
|
| 364 |
-
|
| 365 |
-
|
| 366 |
-
<pair geom1="
|
| 367 |
-
|
| 368 |
-
|
| 369 |
-
<pair geom1="
|
| 370 |
-
|
| 371 |
-
|
| 372 |
-
<pair geom1="
|
| 373 |
-
|
| 374 |
-
|
| 375 |
-
<pair geom1="
|
| 376 |
-
|
| 377 |
-
|
| 378 |
-
<pair geom1="
|
| 379 |
-
|
| 380 |
-
|
| 381 |
-
<pair geom1="
|
| 382 |
-
|
| 383 |
-
|
| 384 |
-
<pair geom1="
|
| 385 |
-
|
| 386 |
-
|
| 387 |
-
<pair geom1="
|
| 388 |
-
|
| 389 |
-
|
| 390 |
-
<pair geom1="
|
| 391 |
-
|
| 392 |
-
|
| 393 |
-
<pair geom1="
|
| 394 |
-
|
| 395 |
-
|
| 396 |
-
<pair geom1="
|
| 397 |
-
|
| 398 |
-
|
| 399 |
-
<pair geom1="
|
| 400 |
-
|
| 401 |
-
|
| 402 |
-
<pair geom1="
|
| 403 |
-
|
| 404 |
-
|
| 405 |
-
<pair geom1="
|
| 406 |
-
|
| 407 |
-
<pair geom1="
|
| 408 |
-
|
| 409 |
-
<pair geom1="
|
| 410 |
-
|
| 411 |
-
<pair geom1="
|
| 412 |
-
|
| 413 |
-
<pair geom1="
|
| 414 |
-
|
| 415 |
-
<pair geom1="
|
| 416 |
-
|
| 417 |
-
<pair geom1="
|
| 418 |
-
|
| 419 |
-
<pair geom1="
|
| 420 |
-
|
| 421 |
-
<pair geom1="
|
| 422 |
-
|
| 423 |
-
<pair geom1="
|
| 424 |
-
|
| 425 |
-
<pair geom1="
|
| 426 |
-
|
| 427 |
-
<pair geom1="
|
| 428 |
-
|
| 429 |
-
<pair geom1="
|
| 430 |
-
|
| 431 |
-
<pair geom1="
|
| 432 |
-
|
| 433 |
-
<pair geom1="
|
| 434 |
-
|
| 435 |
-
<pair geom1="
|
| 436 |
-
|
| 437 |
-
<pair geom1="
|
| 438 |
-
|
| 439 |
-
<pair geom1="
|
| 440 |
-
|
| 441 |
-
|
| 442 |
-
<pair geom1="
|
| 443 |
-
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 444 |
</contact>
|
| 445 |
|
| 446 |
<actuator>
|
| 447 |
-
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
|
| 448 |
-
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
|
| 449 |
-
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
|
| 450 |
-
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 451 |
-
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 452 |
-
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 453 |
-
<general name="right_ffa0" class="right_base" joint="right_ffj0"/>
|
| 454 |
-
<general name="right_ffa1" class="right_proximal" joint="right_ffj1"/>
|
| 455 |
-
<general name="right_ffa2" class="right_medial" joint="right_ffj2"/>
|
| 456 |
-
<general name="right_ffa3" class="right_distal" joint="right_ffj3"/>
|
| 457 |
-
<general name="right_mfa0" class="right_base" joint="right_mfj0"/>
|
| 458 |
-
<general name="right_mfa1" class="right_proximal" joint="right_mfj1"/>
|
| 459 |
-
<general name="right_mfa2" class="right_medial" joint="right_mfj2"/>
|
| 460 |
-
<general name="right_mfa3" class="right_distal" joint="right_mfj3"/>
|
| 461 |
-
<general name="right_rfa0" class="right_base" joint="right_rfj0"/>
|
| 462 |
-
<general name="right_rfa1" class="right_proximal" joint="right_rfj1"/>
|
| 463 |
-
<general name="right_rfa2" class="right_medial" joint="right_rfj2"/>
|
| 464 |
-
<general name="right_rfa3" class="right_distal" joint="right_rfj3"/>
|
| 465 |
-
<general name="right_tha0" class="right_thumb_base" joint="right_thj0"/>
|
| 466 |
-
<general name="right_tha1" class="right_thumb_proximal" joint="right_thj1"/>
|
| 467 |
-
<general name="right_tha2" class="right_thumb_medial" joint="right_thj2"/>
|
| 468 |
-
<general name="right_tha3" class="right_thumb_distal" joint="right_thj3"/>
|
| 469 |
</actuator>
|
| 470 |
-
</mujoco>
|
|
|
|
| 1 |
<mujoco model="metahand_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/" />
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
+
<flag eulerdamp="disable" />
|
| 6 |
</option>
|
| 7 |
|
| 8 |
<visual>
|
| 9 |
+
<global azimuth="140" elevation="-20" />
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1" />
|
| 12 |
</visual>
|
| 13 |
|
| 14 |
<default>
|
| 15 |
<default class="mimic_right">
|
| 16 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
|
| 17 |
</default>
|
| 18 |
<default class="metahand_right">
|
| 19 |
+
<joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2"
|
| 20 |
+
frictionloss="0.02" />
|
| 21 |
+
<geom density="800" />
|
| 22 |
+
<general biastype="affine" gainprm="3" biasprm="0 -3" />
|
| 23 |
<default class="right_visual">
|
| 24 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
|
| 25 |
<default class="right_palm_visual">
|
| 26 |
+
<geom mesh="right_base_link" />
|
| 27 |
</default>
|
| 28 |
<default class="right_base_visual">
|
| 29 |
+
<geom mesh="right_link_0.0" />
|
| 30 |
</default>
|
| 31 |
<default class="right_proximal_visual">
|
| 32 |
+
<geom mesh="right_link_1.0" />
|
| 33 |
</default>
|
| 34 |
<default class="right_medial_visual">
|
| 35 |
+
<geom mesh="right_link_2.0" />
|
| 36 |
</default>
|
| 37 |
<default class="right_distal_visual">
|
| 38 |
+
<geom mesh="right_link_3.0" />
|
| 39 |
</default>
|
| 40 |
<default class="right_fingertip_visual">
|
| 41 |
+
<geom material="right_white" mesh="right_link_3.0_tip" />
|
| 42 |
</default>
|
| 43 |
<default class="right_thumbtip_visual">
|
| 44 |
+
<geom material="right_white" mesh="right_link_15.0_tip" />
|
| 45 |
</default>
|
| 46 |
</default>
|
| 47 |
<default class="right_collision">
|
| 48 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
|
| 49 |
<default class="right_palm_collision">
|
| 50 |
+
<geom size="0.0204 0.0565 0.0475" />
|
| 51 |
</default>
|
| 52 |
<default class="right_base_collision">
|
| 53 |
+
<geom size="0.0098 0.01375 0.0082" />
|
| 54 |
<default class="right_thumb_base_collision">
|
| 55 |
+
<geom size="0.0179 0.017 0.02275" />
|
| 56 |
</default>
|
| 57 |
</default>
|
| 58 |
<default class="right_proximal_collision">
|
| 59 |
+
<geom size="0.0098 0.01375 0.027" />
|
| 60 |
<default class="right_thumb_proximal_collision">
|
| 61 |
+
<geom size="0.0098 0.01375 0.00885" />
|
| 62 |
</default>
|
| 63 |
</default>
|
| 64 |
<default class="right_medial_collision">
|
| 65 |
+
<geom size="0.0098 0.01375 0.0192" />
|
| 66 |
<default class="right_thumb_medial_collision">
|
| 67 |
+
<geom size="0.0098 0.01375 0.0257" />
|
| 68 |
</default>
|
| 69 |
</default>
|
| 70 |
<default class="right_distal_collision">
|
| 71 |
+
<geom size="0.0098 0.01375 0.008" />
|
| 72 |
<default class="right_thumb_distal_collision">
|
| 73 |
+
<geom size="0.0098 0.01375 0.0157" />
|
| 74 |
</default>
|
| 75 |
</default>
|
| 76 |
<default class="right_fingertip_collision">
|
| 77 |
+
<geom size="0.01235 0 0" type="capsule" />
|
| 78 |
+
<default class="right_thumbtip_collision" />
|
| 79 |
</default>
|
| 80 |
</default>
|
| 81 |
<default class="right_base_slide">
|
| 82 |
+
<joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0" />
|
| 83 |
+
<general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1" />
|
| 84 |
</default>
|
| 85 |
<default class="right_base_hinge">
|
| 86 |
+
<joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0" />
|
| 87 |
+
<general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1" />
|
| 88 |
</default>
|
| 89 |
<default class="right_base">
|
| 90 |
+
<joint range="-0.47 0.47" />
|
| 91 |
+
<general ctrlrange="-0.47 0.47" />
|
| 92 |
</default>
|
| 93 |
<default class="right_proximal">
|
| 94 |
+
<joint range="0.196 1.61" />
|
| 95 |
+
<general ctrlrange="0.196 1.61" />
|
| 96 |
</default>
|
| 97 |
<default class="right_medial">
|
| 98 |
+
<joint range="0.174 1.709" />
|
| 99 |
+
<general ctrlrange="0.174 1.709" />
|
| 100 |
</default>
|
| 101 |
<default class="right_distal">
|
| 102 |
+
<joint range="0.227 1.618" />
|
| 103 |
+
<general ctrlrange="0.227 1.618" />
|
| 104 |
</default>
|
| 105 |
<default class="right_thumb_base">
|
| 106 |
+
<joint range="0.263 1.396" />
|
| 107 |
+
<general ctrlrange="0.263 1.396" />
|
| 108 |
</default>
|
| 109 |
<default class="right_thumb_proximal">
|
| 110 |
+
<joint range="0.105 1.163" />
|
| 111 |
+
<general ctrlrange="0.105 1.163" />
|
| 112 |
</default>
|
| 113 |
<default class="right_thumb_medial">
|
| 114 |
+
<joint range="0.189 1.644" />
|
| 115 |
+
<general ctrlrange="0.189 1.644" />
|
| 116 |
</default>
|
| 117 |
<default class="right_thumb_distal">
|
| 118 |
+
<joint range="0.162 1.719" />
|
| 119 |
+
<general ctrlrange="0.162 1.719" />
|
| 120 |
</default>
|
| 121 |
</default>
|
| 122 |
</default>
|
| 123 |
|
| 124 |
<asset>
|
| 125 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0"
|
| 126 |
+
width="512" height="3072" />
|
| 127 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge"
|
| 128 |
+
rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300" />
|
| 129 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7"
|
| 130 |
+
rgb2="0 0 0" width="512" height="3072" />
|
| 131 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
|
| 132 |
+
rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800" />
|
| 133 |
+
<material name="right_black" rgba="0.2 0.2 0.2 1" />
|
| 134 |
+
<material name="right_white" rgba="0.9 0.9 0.9 1" />
|
| 135 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
|
| 136 |
+
reflectance="0.2" />
|
| 137 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
|
| 138 |
+
<mesh name="right_base_link" file="robots/metahand/assets/base_link.stl" />
|
| 139 |
+
<mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl" />
|
| 140 |
+
<mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl" />
|
| 141 |
+
<mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl" />
|
| 142 |
+
<mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl" />
|
| 143 |
+
<mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl" />
|
| 144 |
+
<mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl" />
|
| 145 |
+
<mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl" />
|
| 146 |
+
<mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl" />
|
| 147 |
+
<mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl" />
|
| 148 |
+
<mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl" />
|
| 149 |
+
<mesh name="right_0" file="objects/cup/convex/0.obj" />
|
| 150 |
+
<mesh name="right_1" file="objects/cup/convex/1.obj" />
|
| 151 |
+
<mesh name="right_2" file="objects/cup/convex/2.obj" />
|
| 152 |
+
<mesh name="right_3" file="objects/cup/convex/3.obj" />
|
| 153 |
+
<mesh name="right_4" file="objects/cup/convex/4.obj" />
|
| 154 |
+
<mesh name="right_5" file="objects/cup/convex/5.obj" />
|
| 155 |
+
<mesh name="right_6" file="objects/cup/convex/6.obj" />
|
| 156 |
+
<mesh name="right_7" file="objects/cup/convex/7.obj" />
|
| 157 |
+
<mesh name="right_visual" file="objects/cup/visual.obj" />
|
| 158 |
</asset>
|
| 159 |
|
| 160 |
<worldbody>
|
| 161 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
|
| 162 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
|
| 163 |
+
mode="trackcom" />
|
| 164 |
+
<light pos="0 0 3.5" dir="0 0 -1" />
|
| 165 |
<body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
|
| 166 |
+
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0" />
|
| 167 |
+
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0" />
|
| 168 |
+
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1" />
|
| 169 |
+
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0" />
|
| 170 |
+
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0" />
|
| 171 |
+
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1" />
|
| 172 |
+
<geom class="right_palm_visual" mesh="right_base_link" />
|
| 173 |
+
<geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475"
|
| 174 |
+
mass="0" />
|
| 175 |
+
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
|
| 176 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 177 |
+
<joint name="right_ffj0" class="right_base" pos="0 0 0" axis="0 0 1" />
|
| 178 |
+
<geom class="right_base_visual" mesh="right_link_0.0" />
|
| 179 |
+
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082"
|
| 180 |
+
mass="0" />
|
| 181 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 182 |
+
<joint name="right_ffj1" class="right_proximal" pos="0 0 0" axis="0 1 0" />
|
| 183 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0" />
|
| 184 |
+
<geom name="right_index_proximal_collision" class="right_proximal_collision"
|
| 185 |
+
pos="0 0 0.027" mass="0" />
|
| 186 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 187 |
+
<joint name="right_ffj2" class="right_medial" pos="0 0 0" axis="0 1 0" />
|
| 188 |
+
<geom class="right_medial_visual" mesh="right_link_2.0" />
|
| 189 |
+
<geom name="right_index_intermediate_collision" class="right_medial_collision"
|
| 190 |
+
pos="0 0 0.0192" mass="0" />
|
| 191 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 192 |
+
<joint name="right_ffj3" class="right_distal" pos="0 0 0" axis="0 1 0" />
|
| 193 |
+
<geom class="right_distal_visual" mesh="right_link_3.0" />
|
| 194 |
+
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008"
|
| 195 |
+
mass="0" />
|
| 196 |
<body name="right_ff_tip">
|
| 197 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
|
| 198 |
+
<geom name="right_index_collision" class="right_fingertip_collision"
|
| 199 |
+
size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
|
| 200 |
+
<site name="right_index_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 201 |
+
<site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 202 |
+
<site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 203 |
</body>
|
| 204 |
</body>
|
| 205 |
</body>
|
| 206 |
</body>
|
| 207 |
</body>
|
| 208 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 209 |
+
<joint name="right_mfj0" class="right_base" pos="0 0 0" axis="0 0 1" />
|
| 210 |
+
<geom class="right_base_visual" mesh="right_link_0.0" />
|
| 211 |
+
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082"
|
| 212 |
+
mass="0" />
|
| 213 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 214 |
+
<joint name="right_mfj1" class="right_proximal" pos="0 0 0" axis="0 1 0" />
|
| 215 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0" />
|
| 216 |
+
<geom name="right_middle_proximal_collision" class="right_proximal_collision"
|
| 217 |
+
pos="0 0 0.027" mass="0" />
|
| 218 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 219 |
+
<joint name="right_mfj2" class="right_medial" pos="0 0 0" axis="0 1 0" />
|
| 220 |
+
<geom class="right_medial_visual" mesh="right_link_2.0" />
|
| 221 |
+
<geom name="right_middle_intermediate_collision" class="right_medial_collision"
|
| 222 |
+
pos="0 0 0.0192" mass="0" />
|
| 223 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 224 |
+
<joint name="right_mfj3" class="right_distal" pos="0 0 0" axis="0 1 0" />
|
| 225 |
+
<geom class="right_distal_visual" mesh="right_link_3.0" />
|
| 226 |
+
<geom name="right_middle_distal_collision" class="right_distal_collision"
|
| 227 |
+
pos="0 0 0.008" mass="0" />
|
| 228 |
<body name="right_mf_tip">
|
| 229 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
|
| 230 |
+
<geom name="right_middle_collision" class="right_fingertip_collision"
|
| 231 |
+
size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
|
| 232 |
+
<site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 233 |
+
<site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 234 |
+
<site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 235 |
</body>
|
| 236 |
</body>
|
| 237 |
</body>
|
| 238 |
</body>
|
| 239 |
</body>
|
| 240 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 241 |
+
<joint name="right_rfj0" class="right_base" pos="0 0 0" axis="0 0 1" />
|
| 242 |
+
<geom class="right_base_visual" mesh="right_link_0.0" />
|
| 243 |
+
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082"
|
| 244 |
+
mass="0" />
|
| 245 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 246 |
+
<joint name="right_rfj1" class="right_proximal" pos="0 0 0" axis="0 1 0" />
|
| 247 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0" />
|
| 248 |
+
<geom name="right_ring_proximal_collision" class="right_proximal_collision"
|
| 249 |
+
pos="0 0 0.027" mass="0" />
|
| 250 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 251 |
+
<joint name="right_rfj2" class="right_medial" pos="0 0 0" axis="0 1 0" />
|
| 252 |
+
<geom class="right_medial_visual" mesh="right_link_2.0" />
|
| 253 |
+
<geom name="right_ring_intermediate_collision" class="right_medial_collision"
|
| 254 |
+
pos="0 0 0.0192" mass="0" />
|
| 255 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 256 |
+
<joint name="right_rfj3" class="right_distal" pos="0 0 0" axis="0 1 0" />
|
| 257 |
+
<geom class="right_distal_visual" mesh="right_link_3.0" />
|
| 258 |
+
<geom name="right_ring_distal_collision" class="right_distal_collision"
|
| 259 |
+
pos="0 0 0.008" mass="0" />
|
| 260 |
<body name="right_rf_tip">
|
| 261 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip" />
|
| 262 |
+
<geom name="right_ring_collision" class="right_fingertip_collision"
|
| 263 |
+
size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0" />
|
| 264 |
+
<site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 265 |
+
<site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 266 |
+
<site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515" />
|
| 267 |
</body>
|
| 268 |
</body>
|
| 269 |
</body>
|
| 270 |
</body>
|
| 271 |
</body>
|
| 272 |
+
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
|
| 273 |
+
quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 274 |
+
<joint name="right_thj0" class="right_thumb_base" pos="0 0 0" axis="-1 0 0" />
|
| 275 |
+
<geom class="right_visual" mesh="right_link_12.0_right" />
|
| 276 |
+
<geom name="right_thumb_base_collision" class="right_thumb_base_collision"
|
| 277 |
+
pos="-0.0179 0.009 0.0145" mass="0" />
|
| 278 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 279 |
+
<joint name="right_thj1" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1" />
|
| 280 |
+
<geom class="right_visual" mesh="right_link_13.0" />
|
| 281 |
+
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision"
|
| 282 |
+
pos="0 0 0.00885" mass="0" />
|
| 283 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 284 |
+
<joint name="right_thj2" class="right_thumb_medial" pos="0 0 0" axis="0 1 0" />
|
| 285 |
+
<geom class="right_visual" mesh="right_link_14.0" />
|
| 286 |
+
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision"
|
| 287 |
+
pos="0 0 0.0257" mass="0" />
|
| 288 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 289 |
+
<joint name="right_thj3" class="right_thumb_distal" pos="0 0 0" axis="0 1 0" />
|
| 290 |
+
<geom class="right_visual" mesh="right_link_15.0" />
|
| 291 |
+
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision"
|
| 292 |
+
pos="0 0 0.0157" mass="0" />
|
| 293 |
<body name="right_th_tip">
|
| 294 |
+
<geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip" />
|
| 295 |
+
<geom name="right_thumb_collision" class="right_thumbtip_collision"
|
| 296 |
+
size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0" />
|
| 297 |
+
<site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
|
| 298 |
+
<site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
|
| 299 |
+
<site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671" />
|
| 300 |
</body>
|
| 301 |
</body>
|
| 302 |
</body>
|
|
|
|
| 304 |
</body>
|
| 305 |
</body>
|
| 306 |
<body name="right_object">
|
| 307 |
+
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false"
|
| 308 |
+
armature="0.0001" frictionloss="0.0001" />
|
| 309 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 310 |
+
mesh="right_0" />
|
| 311 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 312 |
+
mesh="right_1" />
|
| 313 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 314 |
+
mesh="right_2" />
|
| 315 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 316 |
+
mesh="right_3" />
|
| 317 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 318 |
+
mesh="right_4" />
|
| 319 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 320 |
+
mesh="right_5" />
|
| 321 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 322 |
+
mesh="right_6" />
|
| 323 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 324 |
+
mesh="right_7" />
|
| 325 |
+
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0"
|
| 326 |
+
rgba="1 1 1 1" mesh="right_visual" />
|
| 327 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box"
|
| 328 |
+
rgba="1 0 0 1" />
|
| 329 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
|
| 330 |
+
<site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
|
| 331 |
+
<site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
|
| 332 |
+
<site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
|
| 333 |
+
<site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
|
| 334 |
</body>
|
| 335 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 336 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 337 |
</body>
|
| 338 |
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 339 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 340 |
</body>
|
| 341 |
<body name="ref_object_right_index_tip" mocap="true">
|
| 342 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 343 |
</body>
|
| 344 |
<body name="ref_hand_right_index_tip" mocap="true">
|
| 345 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 346 |
</body>
|
| 347 |
<body name="ref_object_right_middle_tip" mocap="true">
|
| 348 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 349 |
</body>
|
| 350 |
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 351 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 352 |
</body>
|
| 353 |
<body name="ref_object_right_ring_tip" mocap="true">
|
| 354 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 355 |
</body>
|
| 356 |
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 357 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 358 |
</body>
|
| 359 |
</worldbody>
|
| 360 |
|
| 361 |
<contact>
|
| 362 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008"
|
| 363 |
+
friction="1 1 0.1 0 0" />
|
| 364 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008"
|
| 365 |
+
friction="1 1 0.1 0 0" />
|
| 366 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008"
|
| 367 |
+
friction="1 1 0.1 0 0" />
|
| 368 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008"
|
| 369 |
+
friction="1 1 0.1 0 0" />
|
| 370 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008"
|
| 371 |
+
friction="1 1 0.1 0 0" />
|
| 372 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008"
|
| 373 |
+
friction="1 1 0.1 0 0" />
|
| 374 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008"
|
| 375 |
+
friction="1 1 0.1 0 0" />
|
| 376 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008"
|
| 377 |
+
friction="1 1 0.1 0 0" />
|
| 378 |
+
<pair geom1="right_palm_collision" geom2="right_object_0"
|
| 379 |
+
name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
|
| 380 |
+
<pair geom1="right_palm_collision" geom2="right_object_1"
|
| 381 |
+
name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
|
| 382 |
+
<pair geom1="right_palm_collision" geom2="right_object_2"
|
| 383 |
+
name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
|
| 384 |
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|
| 385 |
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name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
|
| 386 |
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|
| 387 |
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name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 388 |
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|
| 389 |
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name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
|
| 390 |
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|
| 391 |
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name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
|
| 392 |
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|
| 393 |
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name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
|
| 394 |
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|
| 395 |
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name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008"
|
| 396 |
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friction="1 1 0.1 0 0" />
|
| 397 |
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|
| 398 |
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name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008"
|
| 399 |
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friction="1 1 0.1 0 0" />
|
| 400 |
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|
| 401 |
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name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008"
|
| 402 |
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friction="1 1 0.1 0 0" />
|
| 403 |
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|
| 404 |
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name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008"
|
| 405 |
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friction="1 1 0.1 0 0" />
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| 406 |
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|
| 407 |
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name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008"
|
| 408 |
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friction="1 1 0.1 0 0" />
|
| 409 |
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|
| 410 |
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name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008"
|
| 411 |
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friction="1 1 0.1 0 0" />
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| 412 |
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| 413 |
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name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008"
|
| 414 |
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friction="1 1 0.1 0 0" />
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| 415 |
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| 416 |
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name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008"
|
| 417 |
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friction="1 1 0.1 0 0" />
|
| 418 |
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|
| 419 |
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name="right_thumb_collision_right_index_intermediate_collision" solref="0.008"
|
| 420 |
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friction="1 1 0.1 0 0" />
|
| 421 |
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|
| 422 |
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name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008"
|
| 423 |
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friction="1 1 0.1 0 0" />
|
| 424 |
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|
| 425 |
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name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008"
|
| 426 |
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friction="1 1 0.1 0 0" />
|
| 427 |
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|
| 428 |
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name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008"
|
| 429 |
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friction="1 1 0.1 0 0" />
|
| 430 |
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|
| 431 |
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name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008"
|
| 432 |
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friction="1 1 0.1 0 0" />
|
| 433 |
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| 434 |
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name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008"
|
| 435 |
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friction="1 1 0.1 0 0" />
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| 436 |
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| 437 |
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name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008"
|
| 438 |
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friction="1 1 0.1 0 0" />
|
| 439 |
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|
| 440 |
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name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008"
|
| 441 |
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friction="1 1 0.1 0 0" />
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| 442 |
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|
| 443 |
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name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008"
|
| 444 |
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friction="1 1 0.1 0 0" />
|
| 445 |
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|
| 446 |
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name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0" />
|
| 447 |
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|
| 448 |
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name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 449 |
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|
| 450 |
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name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 451 |
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|
| 452 |
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name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 453 |
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|
| 454 |
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name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
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| 455 |
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|
| 456 |
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name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
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| 457 |
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|
| 458 |
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name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 459 |
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|
| 460 |
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name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
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| 461 |
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| 462 |
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name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
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| 463 |
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| 464 |
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name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
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| 465 |
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|
| 466 |
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name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
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| 467 |
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|
| 468 |
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name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
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| 469 |
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| 470 |
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name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
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| 471 |
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| 472 |
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name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
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| 473 |
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| 474 |
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name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
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| 475 |
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| 476 |
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name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
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| 477 |
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| 478 |
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name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
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| 479 |
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| 480 |
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name="right_middle_intermediate_collision_right_object_0" solref="0.008"
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| 481 |
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friction="1 1 0.1 0 0" />
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| 482 |
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| 483 |
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name="right_middle_intermediate_collision_right_object_1" solref="0.008"
|
| 484 |
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friction="1 1 0.1 0 0" />
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| 485 |
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| 486 |
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name="right_middle_intermediate_collision_right_object_2" solref="0.008"
|
| 487 |
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friction="1 1 0.1 0 0" />
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| 488 |
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| 489 |
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name="right_middle_intermediate_collision_right_object_3" solref="0.008"
|
| 490 |
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friction="1 1 0.1 0 0" />
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| 491 |
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| 492 |
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name="right_middle_intermediate_collision_right_object_4" solref="0.008"
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| 493 |
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friction="1 1 0.1 0 0" />
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| 494 |
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| 495 |
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name="right_middle_intermediate_collision_right_object_5" solref="0.008"
|
| 496 |
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friction="1 1 0.1 0 0" />
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| 497 |
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| 498 |
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name="right_middle_intermediate_collision_right_object_6" solref="0.008"
|
| 499 |
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friction="1 1 0.1 0 0" />
|
| 500 |
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| 501 |
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name="right_middle_intermediate_collision_right_object_7" solref="0.008"
|
| 502 |
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friction="1 1 0.1 0 0" />
|
| 503 |
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| 504 |
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name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
|
| 505 |
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|
| 506 |
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name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
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| 507 |
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|
| 508 |
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name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
|
| 509 |
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|
| 510 |
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name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
|
| 511 |
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|
| 512 |
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name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 513 |
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|
| 514 |
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name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
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| 515 |
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| 516 |
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name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
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| 517 |
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|
| 518 |
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name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
|
| 519 |
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|
| 520 |
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name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
|
| 521 |
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|
| 522 |
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name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
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| 523 |
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|
| 524 |
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name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
|
| 525 |
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|
| 526 |
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name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
|
| 527 |
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|
| 528 |
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name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 529 |
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|
| 530 |
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name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
|
| 531 |
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|
| 532 |
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name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
|
| 533 |
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|
| 534 |
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name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
|
| 535 |
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|
| 536 |
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name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
|
| 537 |
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| 538 |
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name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
|
| 539 |
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|
| 540 |
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name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
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| 541 |
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| 542 |
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name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
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| 543 |
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| 544 |
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name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
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| 545 |
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| 546 |
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name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
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| 547 |
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| 548 |
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name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
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| 549 |
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|
| 550 |
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name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
|
| 551 |
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| 552 |
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name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0" />
|
| 553 |
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|
| 554 |
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name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0" />
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| 555 |
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| 556 |
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name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0" />
|
| 557 |
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| 558 |
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name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0" />
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| 559 |
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| 560 |
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name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0" />
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| 561 |
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| 562 |
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name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0" />
|
| 563 |
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| 564 |
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name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0" />
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| 565 |
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| 566 |
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name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0" />
|
| 567 |
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|
| 568 |
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name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008"
|
| 569 |
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friction="1 1 0.1 0 0" />
|
| 570 |
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|
| 571 |
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name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008"
|
| 572 |
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friction="1 1 0.1 0 0" />
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| 573 |
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|
| 574 |
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name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008"
|
| 575 |
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friction="1 1 0.1 0 0" />
|
| 576 |
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|
| 577 |
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name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008"
|
| 578 |
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friction="1 1 0.1 0 0" />
|
| 579 |
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|
| 580 |
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name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008"
|
| 581 |
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friction="1 1 0.1 0 0" />
|
| 582 |
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|
| 583 |
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name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008"
|
| 584 |
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friction="1 1 0.1 0 0" />
|
| 585 |
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|
| 586 |
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name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008"
|
| 587 |
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friction="1 1 0.1 0 0" />
|
| 588 |
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|
| 589 |
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name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008"
|
| 590 |
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friction="1 1 0.1 0 0" />
|
| 591 |
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|
| 592 |
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name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008"
|
| 593 |
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friction="1 1 0.1 0 0" />
|
| 594 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_1"
|
| 595 |
+
name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008"
|
| 596 |
+
friction="1 1 0.1 0 0" />
|
| 597 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_2"
|
| 598 |
+
name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008"
|
| 599 |
+
friction="1 1 0.1 0 0" />
|
| 600 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_3"
|
| 601 |
+
name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008"
|
| 602 |
+
friction="1 1 0.1 0 0" />
|
| 603 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_4"
|
| 604 |
+
name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008"
|
| 605 |
+
friction="1 1 0.1 0 0" />
|
| 606 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_5"
|
| 607 |
+
name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008"
|
| 608 |
+
friction="1 1 0.1 0 0" />
|
| 609 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_6"
|
| 610 |
+
name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008"
|
| 611 |
+
friction="1 1 0.1 0 0" />
|
| 612 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_7"
|
| 613 |
+
name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008"
|
| 614 |
+
friction="1 1 0.1 0 0" />
|
| 615 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_0"
|
| 616 |
+
name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008"
|
| 617 |
+
friction="1 1 0.1 0 0" />
|
| 618 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_1"
|
| 619 |
+
name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008"
|
| 620 |
+
friction="1 1 0.1 0 0" />
|
| 621 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_2"
|
| 622 |
+
name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008"
|
| 623 |
+
friction="1 1 0.1 0 0" />
|
| 624 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_3"
|
| 625 |
+
name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008"
|
| 626 |
+
friction="1 1 0.1 0 0" />
|
| 627 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_4"
|
| 628 |
+
name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008"
|
| 629 |
+
friction="1 1 0.1 0 0" />
|
| 630 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_5"
|
| 631 |
+
name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008"
|
| 632 |
+
friction="1 1 0.1 0 0" />
|
| 633 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_6"
|
| 634 |
+
name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008"
|
| 635 |
+
friction="1 1 0.1 0 0" />
|
| 636 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_7"
|
| 637 |
+
name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008"
|
| 638 |
+
friction="1 1 0.1 0 0" />
|
| 639 |
+
<pair geom1="right_thumb_collision" geom2="right_object_0"
|
| 640 |
+
name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 641 |
+
<pair geom1="right_thumb_collision" geom2="right_object_1"
|
| 642 |
+
name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 643 |
+
<pair geom1="right_thumb_collision" geom2="right_object_2"
|
| 644 |
+
name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 645 |
+
<pair geom1="right_thumb_collision" geom2="right_object_3"
|
| 646 |
+
name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 647 |
+
<pair geom1="right_thumb_collision" geom2="right_object_4"
|
| 648 |
+
name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 649 |
+
<pair geom1="right_thumb_collision" geom2="right_object_5"
|
| 650 |
+
name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 651 |
+
<pair geom1="right_thumb_collision" geom2="right_object_6"
|
| 652 |
+
name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 653 |
+
<pair geom1="right_thumb_collision" geom2="right_object_7"
|
| 654 |
+
name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0" />
|
| 655 |
</contact>
|
| 656 |
|
| 657 |
<actuator>
|
| 658 |
+
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x" />
|
| 659 |
+
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y" />
|
| 660 |
+
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z" />
|
| 661 |
+
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x" />
|
| 662 |
+
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y" />
|
| 663 |
+
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z" />
|
| 664 |
+
<general name="right_ffa0" class="right_base" joint="right_ffj0" />
|
| 665 |
+
<general name="right_ffa1" class="right_proximal" joint="right_ffj1" />
|
| 666 |
+
<general name="right_ffa2" class="right_medial" joint="right_ffj2" />
|
| 667 |
+
<general name="right_ffa3" class="right_distal" joint="right_ffj3" />
|
| 668 |
+
<general name="right_mfa0" class="right_base" joint="right_mfj0" />
|
| 669 |
+
<general name="right_mfa1" class="right_proximal" joint="right_mfj1" />
|
| 670 |
+
<general name="right_mfa2" class="right_medial" joint="right_mfj2" />
|
| 671 |
+
<general name="right_mfa3" class="right_distal" joint="right_mfj3" />
|
| 672 |
+
<general name="right_rfa0" class="right_base" joint="right_rfj0" />
|
| 673 |
+
<general name="right_rfa1" class="right_proximal" joint="right_rfj1" />
|
| 674 |
+
<general name="right_rfa2" class="right_medial" joint="right_rfj2" />
|
| 675 |
+
<general name="right_rfa3" class="right_distal" joint="right_rfj3" />
|
| 676 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thj0" />
|
| 677 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thj1" />
|
| 678 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thj2" />
|
| 679 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thj3" />
|
| 680 |
</actuator>
|
| 681 |
+
</mujoco>
|
processed/fair_mon/allegro/right/cat/0/trajectory_ikrollout.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1f75649636da157c6a42b21c711afc6f1b6e0d2af7dcac7c387087f55c68c22c
|
| 3 |
+
size 2814
|
processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa31b6bf47c2c9f0077274aec3e6d0c53b0351e8c66a0d37d5e7601a1b203124
|
| 3 |
+
size 13948
|
processed/fair_mon/allegro/right/cat/0/visualization_ik.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:267be51c4e4172d41a49fa37b0d9b5366fa4880d77fbc3de75496ca3a0b4a2db
|
| 3 |
+
size 56165
|
processed/fair_mon/allegro/right/cat/scene.xml
ADDED
|
@@ -0,0 +1,465 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="allegro_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
+
|
| 4 |
+
<option timestep="0.01" iterations="10">
|
| 5 |
+
<flag eulerdamp="disable"/>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<visual>
|
| 9 |
+
<global azimuth="140" elevation="-20"/>
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 12 |
+
</visual>
|
| 13 |
+
|
| 14 |
+
<default>
|
| 15 |
+
<default class="mimic_right">
|
| 16 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 17 |
+
</default>
|
| 18 |
+
<default class="allegro_right">
|
| 19 |
+
<joint armature="1"/>
|
| 20 |
+
<geom density="800"/>
|
| 21 |
+
<general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
|
| 22 |
+
<default class="right_visual">
|
| 23 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
|
| 24 |
+
<default class="right_palm_visual">
|
| 25 |
+
<geom mesh="right_base_link"/>
|
| 26 |
+
</default>
|
| 27 |
+
<default class="right_base_visual">
|
| 28 |
+
<geom mesh="right_link_0.0"/>
|
| 29 |
+
</default>
|
| 30 |
+
<default class="right_proximal_visual">
|
| 31 |
+
<geom mesh="right_link_1.0"/>
|
| 32 |
+
</default>
|
| 33 |
+
<default class="right_medial_visual">
|
| 34 |
+
<geom mesh="right_link_2.0"/>
|
| 35 |
+
</default>
|
| 36 |
+
<default class="right_distal_visual">
|
| 37 |
+
<geom mesh="right_link_3.0"/>
|
| 38 |
+
</default>
|
| 39 |
+
<default class="right_fingertip_visual">
|
| 40 |
+
<geom material="right_white" mesh="right_link_3.0_tip"/>
|
| 41 |
+
</default>
|
| 42 |
+
<default class="right_thumbtip_visual">
|
| 43 |
+
<geom material="right_white" mesh="right_link_15.0_tip"/>
|
| 44 |
+
</default>
|
| 45 |
+
</default>
|
| 46 |
+
<default class="right_collision">
|
| 47 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 48 |
+
<default class="right_palm_collision">
|
| 49 |
+
<geom size="0.0204 0.0565 0.0475"/>
|
| 50 |
+
</default>
|
| 51 |
+
<default class="right_base_collision">
|
| 52 |
+
<geom size="0.0098 0.01375 0.0082"/>
|
| 53 |
+
<default class="right_thumb_base_collision">
|
| 54 |
+
<geom size="0.0179 0.017 0.02275"/>
|
| 55 |
+
</default>
|
| 56 |
+
</default>
|
| 57 |
+
<default class="right_proximal_collision">
|
| 58 |
+
<geom size="0.0098 0.01375 0.027"/>
|
| 59 |
+
<default class="right_thumb_proximal_collision">
|
| 60 |
+
<geom size="0.0098 0.01375 0.00885"/>
|
| 61 |
+
</default>
|
| 62 |
+
</default>
|
| 63 |
+
<default class="right_medial_collision">
|
| 64 |
+
<geom size="0.0098 0.01375 0.0192"/>
|
| 65 |
+
<default class="right_thumb_medial_collision">
|
| 66 |
+
<geom size="0.0098 0.01375 0.0257"/>
|
| 67 |
+
</default>
|
| 68 |
+
</default>
|
| 69 |
+
<default class="right_distal_collision">
|
| 70 |
+
<geom size="0.0098 0.01375 0.008"/>
|
| 71 |
+
<default class="right_thumb_distal_collision">
|
| 72 |
+
<geom size="0.0098 0.01375 0.0157"/>
|
| 73 |
+
</default>
|
| 74 |
+
</default>
|
| 75 |
+
<default class="right_fingertip_collision">
|
| 76 |
+
<geom size="0.012 0.01 0" type="capsule"/>
|
| 77 |
+
<default class="right_thumbtip_collision">
|
| 78 |
+
<geom size="0.012 0.008 0"/>
|
| 79 |
+
</default>
|
| 80 |
+
</default>
|
| 81 |
+
</default>
|
| 82 |
+
<default class="right_base_slide">
|
| 83 |
+
<joint type="slide" range="-3 3"/>
|
| 84 |
+
<general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
|
| 85 |
+
</default>
|
| 86 |
+
<default class="right_base_hinge">
|
| 87 |
+
<joint range="-6.28 6.28"/>
|
| 88 |
+
<general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
|
| 89 |
+
</default>
|
| 90 |
+
<default class="right_base">
|
| 91 |
+
<joint range="-0.47 0.47"/>
|
| 92 |
+
<general ctrlrange="-0.47 0.47"/>
|
| 93 |
+
</default>
|
| 94 |
+
<default class="right_proximal">
|
| 95 |
+
<joint range="0.196 1.61"/>
|
| 96 |
+
<general ctrlrange="0.196 1.61"/>
|
| 97 |
+
</default>
|
| 98 |
+
<default class="right_medial">
|
| 99 |
+
<joint range="0.174 1.709"/>
|
| 100 |
+
<general ctrlrange="0.174 1.709"/>
|
| 101 |
+
</default>
|
| 102 |
+
<default class="right_distal">
|
| 103 |
+
<joint range="0.227 1.618"/>
|
| 104 |
+
<general ctrlrange="0.227 1.618"/>
|
| 105 |
+
</default>
|
| 106 |
+
<default class="right_thumb_base">
|
| 107 |
+
<joint range="0.263 1.396"/>
|
| 108 |
+
<general ctrlrange="0.263 1.396"/>
|
| 109 |
+
</default>
|
| 110 |
+
<default class="right_thumb_proximal">
|
| 111 |
+
<joint range="0.105 1.163"/>
|
| 112 |
+
<general ctrlrange="0.105 1.163"/>
|
| 113 |
+
</default>
|
| 114 |
+
<default class="right_thumb_medial">
|
| 115 |
+
<joint range="0.189 1.644"/>
|
| 116 |
+
<general ctrlrange="0.189 1.644"/>
|
| 117 |
+
</default>
|
| 118 |
+
<default class="right_thumb_distal">
|
| 119 |
+
<joint range="0.162 1.719"/>
|
| 120 |
+
<general ctrlrange="0.162 1.719"/>
|
| 121 |
+
</default>
|
| 122 |
+
</default>
|
| 123 |
+
</default>
|
| 124 |
+
|
| 125 |
+
<asset>
|
| 126 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 127 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 128 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 129 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
|
| 130 |
+
<material name="right_black" rgba="0.2 0.2 0.2 1"/>
|
| 131 |
+
<material name="right_white" rgba="0.9 0.9 0.9 1"/>
|
| 132 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 133 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 134 |
+
<mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
|
| 135 |
+
<mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
|
| 136 |
+
<mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
|
| 137 |
+
<mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
|
| 138 |
+
<mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
|
| 139 |
+
<mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
|
| 140 |
+
<mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
|
| 141 |
+
<mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
|
| 142 |
+
<mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
|
| 143 |
+
<mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
|
| 144 |
+
<mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
|
| 145 |
+
<mesh name="right_0" file="objects/cat/convex/0.obj"/>
|
| 146 |
+
<mesh name="right_1" file="objects/cat/convex/1.obj"/>
|
| 147 |
+
<mesh name="right_2" file="objects/cat/convex/2.obj"/>
|
| 148 |
+
<mesh name="right_3" file="objects/cat/convex/3.obj"/>
|
| 149 |
+
<mesh name="right_4" file="objects/cat/convex/4.obj"/>
|
| 150 |
+
<mesh name="right_5" file="objects/cat/convex/5.obj"/>
|
| 151 |
+
<mesh name="right_6" file="objects/cat/convex/6.obj"/>
|
| 152 |
+
<mesh name="right_7" file="objects/cat/convex/7.obj"/>
|
| 153 |
+
<mesh name="right_visual" file="objects/cat/visual.obj"/>
|
| 154 |
+
</asset>
|
| 155 |
+
|
| 156 |
+
<worldbody>
|
| 157 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 158 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
|
| 159 |
+
<light pos="0 0 3.5" dir="0 0 -1"/>
|
| 160 |
+
<body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
|
| 161 |
+
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 162 |
+
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 163 |
+
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 164 |
+
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 165 |
+
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 166 |
+
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 167 |
+
<geom class="right_palm_visual" mesh="right_base_link"/>
|
| 168 |
+
<geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
|
| 169 |
+
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 170 |
+
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 171 |
+
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 172 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 173 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 174 |
+
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 175 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 176 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 177 |
+
<geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 178 |
+
<body name="right_ff_medial" pos="0 0 0.054">
|
| 179 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 180 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 181 |
+
<geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 182 |
+
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 183 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 184 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 185 |
+
<body name="right_ff_tip">
|
| 186 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 187 |
+
<geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
|
| 188 |
+
<site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 189 |
+
<site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 190 |
+
<site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 191 |
+
</body>
|
| 192 |
+
</body>
|
| 193 |
+
</body>
|
| 194 |
+
</body>
|
| 195 |
+
</body>
|
| 196 |
+
<body name="right_mf_base" pos="0 0 0.0007">
|
| 197 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 198 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 199 |
+
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 200 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 201 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 202 |
+
<geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 203 |
+
<body name="right_mf_medial" pos="0 0 0.054">
|
| 204 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 205 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 206 |
+
<geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 207 |
+
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 208 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 209 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 210 |
+
<body name="right_mf_tip">
|
| 211 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 212 |
+
<geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
|
| 213 |
+
<site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 214 |
+
<site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 215 |
+
<site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 216 |
+
</body>
|
| 217 |
+
</body>
|
| 218 |
+
</body>
|
| 219 |
+
</body>
|
| 220 |
+
</body>
|
| 221 |
+
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 222 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 223 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 224 |
+
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 225 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 226 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 227 |
+
<geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 228 |
+
<body name="right_rf_medial" pos="0 0 0.054">
|
| 229 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 230 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 231 |
+
<geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 232 |
+
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 233 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 234 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 235 |
+
<body name="right_rf_tip">
|
| 236 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 237 |
+
<geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
|
| 238 |
+
<site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 239 |
+
<site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 240 |
+
<site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 241 |
+
</body>
|
| 242 |
+
</body>
|
| 243 |
+
</body>
|
| 244 |
+
</body>
|
| 245 |
+
</body>
|
| 246 |
+
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 247 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
|
| 248 |
+
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 249 |
+
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 250 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 251 |
+
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 252 |
+
<body name="right_th_medial" pos="0 0 0.0177">
|
| 253 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 254 |
+
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 255 |
+
<geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 256 |
+
<body name="right_th_distal" pos="0 0 0.0514">
|
| 257 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 258 |
+
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 259 |
+
<geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 260 |
+
<body name="right_th_tip">
|
| 261 |
+
<geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
|
| 262 |
+
<geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
|
| 263 |
+
<site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
|
| 264 |
+
<site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
|
| 265 |
+
<site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
|
| 266 |
+
</body>
|
| 267 |
+
</body>
|
| 268 |
+
</body>
|
| 269 |
+
</body>
|
| 270 |
+
</body>
|
| 271 |
+
</body>
|
| 272 |
+
<body name="right_object">
|
| 273 |
+
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 274 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 275 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 276 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 277 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 278 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 279 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 280 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 281 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 282 |
+
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 283 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 284 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 285 |
+
<site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 286 |
+
<site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 287 |
+
<site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 288 |
+
<site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 289 |
+
</body>
|
| 290 |
+
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 291 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 292 |
+
</body>
|
| 293 |
+
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 294 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 295 |
+
</body>
|
| 296 |
+
<body name="ref_object_right_index_tip" mocap="true">
|
| 297 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 298 |
+
</body>
|
| 299 |
+
<body name="ref_hand_right_index_tip" mocap="true">
|
| 300 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 301 |
+
</body>
|
| 302 |
+
<body name="ref_object_right_middle_tip" mocap="true">
|
| 303 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 304 |
+
</body>
|
| 305 |
+
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 306 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 307 |
+
</body>
|
| 308 |
+
<body name="ref_object_right_ring_tip" mocap="true">
|
| 309 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 310 |
+
</body>
|
| 311 |
+
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 312 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 313 |
+
</body>
|
| 314 |
+
</worldbody>
|
| 315 |
+
|
| 316 |
+
<contact>
|
| 317 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 318 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 319 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 320 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 321 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 322 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 323 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 324 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 325 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 326 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 327 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 328 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 329 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 330 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 331 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 332 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 333 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 334 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 335 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 336 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 337 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 338 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 339 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 340 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 341 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 342 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 343 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 344 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 345 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 346 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 347 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 348 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 349 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 350 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 351 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 352 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 353 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 354 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 355 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 356 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 357 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 358 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 359 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 360 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 361 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 362 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 363 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 364 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
|
| 365 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 366 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
|
| 367 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
|
| 368 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
|
| 369 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
|
| 370 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
|
| 371 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 372 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 373 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 374 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 375 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 376 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 377 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 378 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 379 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 380 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 381 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 382 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 383 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 384 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 385 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 386 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 387 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 388 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 389 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 390 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
|
| 391 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 392 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
|
| 393 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
|
| 394 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
|
| 395 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
|
| 396 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
|
| 397 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 398 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 399 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 400 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 401 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 402 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 403 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 404 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 405 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 406 |
+
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 407 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 408 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 409 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 410 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 411 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 412 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 413 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 414 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 415 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 416 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 417 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 418 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 419 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 420 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 421 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 422 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 423 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 424 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 425 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 426 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 427 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 428 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 429 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 430 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 431 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 432 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 433 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 434 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 435 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 436 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 437 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 438 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 439 |
+
</contact>
|
| 440 |
+
|
| 441 |
+
<actuator>
|
| 442 |
+
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
|
| 443 |
+
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
|
| 444 |
+
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
|
| 445 |
+
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 446 |
+
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 447 |
+
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 448 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 449 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 450 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 451 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 452 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 453 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 454 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 455 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 456 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 457 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 458 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 459 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 460 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 461 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 462 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 463 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 464 |
+
</actuator>
|
| 465 |
+
</mujoco>
|
processed/fair_mon/allegro/right/cat/scene_eq.xml
ADDED
|
@@ -0,0 +1,476 @@
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|
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|
|
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|
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|
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|
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|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="allegro_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
+
|
| 4 |
+
<option timestep="0.01" iterations="10">
|
| 5 |
+
<flag eulerdamp="disable"/>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<visual>
|
| 9 |
+
<global azimuth="140" elevation="-20"/>
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 12 |
+
</visual>
|
| 13 |
+
|
| 14 |
+
<default>
|
| 15 |
+
<default class="mimic_right">
|
| 16 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 17 |
+
</default>
|
| 18 |
+
<default class="allegro_right">
|
| 19 |
+
<joint armature="1"/>
|
| 20 |
+
<geom density="800"/>
|
| 21 |
+
<general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
|
| 22 |
+
<default class="right_visual">
|
| 23 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
|
| 24 |
+
<default class="right_palm_visual">
|
| 25 |
+
<geom mesh="right_base_link"/>
|
| 26 |
+
</default>
|
| 27 |
+
<default class="right_base_visual">
|
| 28 |
+
<geom mesh="right_link_0.0"/>
|
| 29 |
+
</default>
|
| 30 |
+
<default class="right_proximal_visual">
|
| 31 |
+
<geom mesh="right_link_1.0"/>
|
| 32 |
+
</default>
|
| 33 |
+
<default class="right_medial_visual">
|
| 34 |
+
<geom mesh="right_link_2.0"/>
|
| 35 |
+
</default>
|
| 36 |
+
<default class="right_distal_visual">
|
| 37 |
+
<geom mesh="right_link_3.0"/>
|
| 38 |
+
</default>
|
| 39 |
+
<default class="right_fingertip_visual">
|
| 40 |
+
<geom material="right_white" mesh="right_link_3.0_tip"/>
|
| 41 |
+
</default>
|
| 42 |
+
<default class="right_thumbtip_visual">
|
| 43 |
+
<geom material="right_white" mesh="right_link_15.0_tip"/>
|
| 44 |
+
</default>
|
| 45 |
+
</default>
|
| 46 |
+
<default class="right_collision">
|
| 47 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 48 |
+
<default class="right_palm_collision">
|
| 49 |
+
<geom size="0.0204 0.0565 0.0475"/>
|
| 50 |
+
</default>
|
| 51 |
+
<default class="right_base_collision">
|
| 52 |
+
<geom size="0.0098 0.01375 0.0082"/>
|
| 53 |
+
<default class="right_thumb_base_collision">
|
| 54 |
+
<geom size="0.0179 0.017 0.02275"/>
|
| 55 |
+
</default>
|
| 56 |
+
</default>
|
| 57 |
+
<default class="right_proximal_collision">
|
| 58 |
+
<geom size="0.0098 0.01375 0.027"/>
|
| 59 |
+
<default class="right_thumb_proximal_collision">
|
| 60 |
+
<geom size="0.0098 0.01375 0.00885"/>
|
| 61 |
+
</default>
|
| 62 |
+
</default>
|
| 63 |
+
<default class="right_medial_collision">
|
| 64 |
+
<geom size="0.0098 0.01375 0.0192"/>
|
| 65 |
+
<default class="right_thumb_medial_collision">
|
| 66 |
+
<geom size="0.0098 0.01375 0.0257"/>
|
| 67 |
+
</default>
|
| 68 |
+
</default>
|
| 69 |
+
<default class="right_distal_collision">
|
| 70 |
+
<geom size="0.0098 0.01375 0.008"/>
|
| 71 |
+
<default class="right_thumb_distal_collision">
|
| 72 |
+
<geom size="0.0098 0.01375 0.0157"/>
|
| 73 |
+
</default>
|
| 74 |
+
</default>
|
| 75 |
+
<default class="right_fingertip_collision">
|
| 76 |
+
<geom size="0.012 0.01 0" type="capsule"/>
|
| 77 |
+
<default class="right_thumbtip_collision">
|
| 78 |
+
<geom size="0.012 0.008 0"/>
|
| 79 |
+
</default>
|
| 80 |
+
</default>
|
| 81 |
+
</default>
|
| 82 |
+
<default class="right_base_slide">
|
| 83 |
+
<joint type="slide" range="-3 3"/>
|
| 84 |
+
<general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
|
| 85 |
+
</default>
|
| 86 |
+
<default class="right_base_hinge">
|
| 87 |
+
<joint range="-6.28 6.28"/>
|
| 88 |
+
<general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
|
| 89 |
+
</default>
|
| 90 |
+
<default class="right_base">
|
| 91 |
+
<joint range="-0.47 0.47"/>
|
| 92 |
+
<general ctrlrange="-0.47 0.47"/>
|
| 93 |
+
</default>
|
| 94 |
+
<default class="right_proximal">
|
| 95 |
+
<joint range="0.196 1.61"/>
|
| 96 |
+
<general ctrlrange="0.196 1.61"/>
|
| 97 |
+
</default>
|
| 98 |
+
<default class="right_medial">
|
| 99 |
+
<joint range="0.174 1.709"/>
|
| 100 |
+
<general ctrlrange="0.174 1.709"/>
|
| 101 |
+
</default>
|
| 102 |
+
<default class="right_distal">
|
| 103 |
+
<joint range="0.227 1.618"/>
|
| 104 |
+
<general ctrlrange="0.227 1.618"/>
|
| 105 |
+
</default>
|
| 106 |
+
<default class="right_thumb_base">
|
| 107 |
+
<joint range="0.263 1.396"/>
|
| 108 |
+
<general ctrlrange="0.263 1.396"/>
|
| 109 |
+
</default>
|
| 110 |
+
<default class="right_thumb_proximal">
|
| 111 |
+
<joint range="0.105 1.163"/>
|
| 112 |
+
<general ctrlrange="0.105 1.163"/>
|
| 113 |
+
</default>
|
| 114 |
+
<default class="right_thumb_medial">
|
| 115 |
+
<joint range="0.189 1.644"/>
|
| 116 |
+
<general ctrlrange="0.189 1.644"/>
|
| 117 |
+
</default>
|
| 118 |
+
<default class="right_thumb_distal">
|
| 119 |
+
<joint range="0.162 1.719"/>
|
| 120 |
+
<general ctrlrange="0.162 1.719"/>
|
| 121 |
+
</default>
|
| 122 |
+
</default>
|
| 123 |
+
</default>
|
| 124 |
+
|
| 125 |
+
<asset>
|
| 126 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 127 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 128 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 129 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
|
| 130 |
+
<material name="right_black" rgba="0.2 0.2 0.2 1"/>
|
| 131 |
+
<material name="right_white" rgba="0.9 0.9 0.9 1"/>
|
| 132 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 133 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 134 |
+
<mesh name="right_base_link" file="robots/allegro/assets/base_link.stl"/>
|
| 135 |
+
<mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl"/>
|
| 136 |
+
<mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl"/>
|
| 137 |
+
<mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl"/>
|
| 138 |
+
<mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl"/>
|
| 139 |
+
<mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl"/>
|
| 140 |
+
<mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl"/>
|
| 141 |
+
<mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl"/>
|
| 142 |
+
<mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl"/>
|
| 143 |
+
<mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl"/>
|
| 144 |
+
<mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl"/>
|
| 145 |
+
<mesh name="right_0" file="objects/cat/convex/0.obj"/>
|
| 146 |
+
<mesh name="right_1" file="objects/cat/convex/1.obj"/>
|
| 147 |
+
<mesh name="right_2" file="objects/cat/convex/2.obj"/>
|
| 148 |
+
<mesh name="right_3" file="objects/cat/convex/3.obj"/>
|
| 149 |
+
<mesh name="right_4" file="objects/cat/convex/4.obj"/>
|
| 150 |
+
<mesh name="right_5" file="objects/cat/convex/5.obj"/>
|
| 151 |
+
<mesh name="right_6" file="objects/cat/convex/6.obj"/>
|
| 152 |
+
<mesh name="right_7" file="objects/cat/convex/7.obj"/>
|
| 153 |
+
<mesh name="right_visual" file="objects/cat/visual.obj"/>
|
| 154 |
+
</asset>
|
| 155 |
+
|
| 156 |
+
<worldbody>
|
| 157 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 158 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
|
| 159 |
+
<light pos="0 0 3.5" dir="0 0 -1"/>
|
| 160 |
+
<body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
|
| 161 |
+
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 162 |
+
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 163 |
+
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 164 |
+
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 165 |
+
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 166 |
+
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 167 |
+
<geom class="right_palm_visual" mesh="right_base_link"/>
|
| 168 |
+
<geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
|
| 169 |
+
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 170 |
+
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 171 |
+
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 172 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 173 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 174 |
+
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 175 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 176 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 177 |
+
<geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 178 |
+
<body name="right_ff_medial" pos="0 0 0.054">
|
| 179 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 180 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 181 |
+
<geom name="collision_hand_right_index_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 182 |
+
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 183 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 184 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 185 |
+
<body name="right_ff_tip">
|
| 186 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 187 |
+
<geom name="collision_hand_right_index_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
|
| 188 |
+
<site name="right_index_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 189 |
+
<site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 190 |
+
<site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 191 |
+
</body>
|
| 192 |
+
</body>
|
| 193 |
+
</body>
|
| 194 |
+
</body>
|
| 195 |
+
</body>
|
| 196 |
+
<body name="right_mf_base" pos="0 0 0.0007">
|
| 197 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 198 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 199 |
+
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 200 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 201 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 202 |
+
<geom name="collision_hand_right_middle_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 203 |
+
<body name="right_mf_medial" pos="0 0 0.054">
|
| 204 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 205 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 206 |
+
<geom name="collision_hand_right_middle_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 207 |
+
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 208 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 209 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 210 |
+
<body name="right_mf_tip">
|
| 211 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 212 |
+
<geom name="collision_hand_right_middle_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
|
| 213 |
+
<site name="right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 214 |
+
<site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 215 |
+
<site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 216 |
+
</body>
|
| 217 |
+
</body>
|
| 218 |
+
</body>
|
| 219 |
+
</body>
|
| 220 |
+
</body>
|
| 221 |
+
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 222 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 223 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 224 |
+
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 225 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 226 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 227 |
+
<geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 228 |
+
<body name="right_rf_medial" pos="0 0 0.054">
|
| 229 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 230 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 231 |
+
<geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 232 |
+
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 233 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 234 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 235 |
+
<body name="right_rf_tip">
|
| 236 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 237 |
+
<geom name="collision_hand_right_ring_0" class="right_fingertip_collision" pos="0 0 0.019" mass="0"/>
|
| 238 |
+
<site name="right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 239 |
+
<site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 240 |
+
<site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019"/>
|
| 241 |
+
</body>
|
| 242 |
+
</body>
|
| 243 |
+
</body>
|
| 244 |
+
</body>
|
| 245 |
+
</body>
|
| 246 |
+
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 247 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
|
| 248 |
+
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 249 |
+
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 250 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 251 |
+
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 252 |
+
<body name="right_th_medial" pos="0 0 0.0177">
|
| 253 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 254 |
+
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 255 |
+
<geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 256 |
+
<body name="right_th_distal" pos="0 0 0.0514">
|
| 257 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 258 |
+
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 259 |
+
<geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 260 |
+
<body name="right_th_tip">
|
| 261 |
+
<geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
|
| 262 |
+
<geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision" pos="0 0 0.035" mass="0"/>
|
| 263 |
+
<site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
|
| 264 |
+
<site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
|
| 265 |
+
<site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035"/>
|
| 266 |
+
</body>
|
| 267 |
+
</body>
|
| 268 |
+
</body>
|
| 269 |
+
</body>
|
| 270 |
+
</body>
|
| 271 |
+
</body>
|
| 272 |
+
<body name="right_object">
|
| 273 |
+
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 274 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 275 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 276 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 277 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 278 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 279 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 280 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 281 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 282 |
+
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 283 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 284 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 285 |
+
<site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 286 |
+
<site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 287 |
+
<site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0323832" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 288 |
+
<site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 289 |
+
</body>
|
| 290 |
+
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 291 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 292 |
+
</body>
|
| 293 |
+
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 294 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 295 |
+
</body>
|
| 296 |
+
<body name="ref_object_right_index_tip" mocap="true">
|
| 297 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 298 |
+
</body>
|
| 299 |
+
<body name="ref_hand_right_index_tip" mocap="true">
|
| 300 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 301 |
+
</body>
|
| 302 |
+
<body name="ref_object_right_middle_tip" mocap="true">
|
| 303 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 304 |
+
</body>
|
| 305 |
+
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 306 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 307 |
+
</body>
|
| 308 |
+
<body name="ref_object_right_ring_tip" mocap="true">
|
| 309 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 310 |
+
</body>
|
| 311 |
+
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 312 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 313 |
+
</body>
|
| 314 |
+
</worldbody>
|
| 315 |
+
|
| 316 |
+
<contact>
|
| 317 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 318 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 319 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 320 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 321 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 322 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 323 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 324 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 325 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 326 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 327 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 328 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 329 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 330 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 331 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 332 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 333 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 334 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 335 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 336 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 337 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_0" name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 338 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_1" name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 339 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_2" name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 340 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_3" name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 341 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_4" name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 342 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_5" name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 343 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_6" name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 344 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_7" name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 345 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 346 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 347 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 348 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 349 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 350 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 351 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 352 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 353 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 354 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 355 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 356 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 357 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 358 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 359 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 360 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 361 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 362 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 363 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 364 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_0" name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0"/>
|
| 365 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_1" name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 366 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_2" name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0"/>
|
| 367 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_3" name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0"/>
|
| 368 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_4" name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0"/>
|
| 369 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_5" name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0"/>
|
| 370 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_6" name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0"/>
|
| 371 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_7" name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 372 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 373 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 374 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 375 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 376 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 377 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 378 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 379 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 380 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 381 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 382 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 383 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 384 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 385 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 386 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 387 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 388 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 389 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 390 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_0" name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0"/>
|
| 391 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_1" name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 392 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_2" name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0"/>
|
| 393 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_3" name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0"/>
|
| 394 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_4" name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0"/>
|
| 395 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_5" name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0"/>
|
| 396 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_6" name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0"/>
|
| 397 |
+
<pair geom1="collision_hand_right_ring_2" geom2="right_object_7" name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 398 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 399 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 400 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 401 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 402 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 403 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 404 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 405 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 406 |
+
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 407 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 408 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 409 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 410 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 411 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 412 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 413 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 414 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 415 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 416 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 417 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 418 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 419 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 420 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 421 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 422 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 423 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 424 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 425 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 426 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 427 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 428 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 429 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 430 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 431 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 432 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 433 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 434 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 435 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 436 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 437 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 438 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 439 |
+
</contact>
|
| 440 |
+
|
| 441 |
+
<equality>
|
| 442 |
+
<connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
|
| 443 |
+
<connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
|
| 444 |
+
<connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
|
| 445 |
+
<connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
|
| 446 |
+
<connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
|
| 447 |
+
<connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
|
| 448 |
+
<connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
|
| 449 |
+
<connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
|
| 450 |
+
</equality>
|
| 451 |
+
|
| 452 |
+
<actuator>
|
| 453 |
+
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
|
| 454 |
+
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
|
| 455 |
+
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
|
| 456 |
+
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 457 |
+
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 458 |
+
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 459 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 460 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 461 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 462 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 463 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 464 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 465 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 466 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 467 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 468 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 469 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 470 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 471 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 472 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 473 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 474 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 475 |
+
</actuator>
|
| 476 |
+
</mujoco>
|
processed/fair_mon/allegro/right/cat/task_info.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "cat",
|
| 3 |
+
"dataset_name": "fair_mon",
|
| 4 |
+
"robot_type": "allegro",
|
| 5 |
+
"hand_type": "right",
|
| 6 |
+
"data_id": 0,
|
| 7 |
+
"right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
|
| 8 |
+
"left_object_mesh_dir": null,
|
| 9 |
+
"right_object_convex_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
|
| 10 |
+
}
|
processed/fair_mon/mano/right/cat/0/trajectory_keypoints.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2b678a3a9c785884671fe0807cf174df5d8c8210dcfa1ed4e357ff4a8c4b6bad
|
| 3 |
+
size 22000
|
processed/fair_mon/mano/right/cat/0/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 22000
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:36e53862135d0c70549248155939e244351378b696ac2fc87966c888b7baf565
|
| 3 |
size 22000
|
processed/fair_mon/mano/right/cat/task_info.json
CHANGED
|
@@ -4,7 +4,7 @@
|
|
| 4 |
"robot_type": "mano",
|
| 5 |
"hand_type": "right",
|
| 6 |
"data_id": 0,
|
| 7 |
-
"right_object_mesh_dir": "/
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
-
"right_object_convex_dir": "/
|
| 10 |
}
|
|
|
|
| 4 |
"robot_type": "mano",
|
| 5 |
"hand_type": "right",
|
| 6 |
"data_id": 0,
|
| 7 |
+
"right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat",
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
+
"right_object_convex_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/cat/convex"
|
| 10 |
}
|
processed/fair_mon/mano/right/coke/0/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bfc94aa2f6e255e18090fcd68f670425ffb10d4cba53aa9a8dad22186e437e76
|
| 3 |
+
size 17276
|
processed/fair_mon/mano/right/coke/task_info.json
CHANGED
|
@@ -4,7 +4,7 @@
|
|
| 4 |
"robot_type": "mano",
|
| 5 |
"hand_type": "right",
|
| 6 |
"data_id": 0,
|
| 7 |
-
"right_object_mesh_dir": "/
|
| 8 |
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/coke/convex",
|
| 9 |
"left_object_mesh_dir": null
|
| 10 |
}
|
|
|
|
| 4 |
"robot_type": "mano",
|
| 5 |
"hand_type": "right",
|
| 6 |
"data_id": 0,
|
| 7 |
+
"right_object_mesh_dir": "/Users/pcy/Downloads/tmpcode/retarget/example_datasets/processed/fair_mon/assets/objects/coke",
|
| 8 |
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_mon/assets/objects/coke/convex",
|
| 9 |
"left_object_mesh_dir": null
|
| 10 |
}
|