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jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 26: + name right_j_thumb2z + jnt_type 3 + jnt_qposadr 26 + jnt_dofadr 26 + jnt_bodyid 22 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 27: + name right_j_thumb3 + jnt_type 3 + jnt_qposadr 27 + jnt_dofadr 27 + jnt_bodyid 23 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 28: + name left_pos_x + jnt_type 2 + jnt_qposadr 28 + jnt_dofadr 28 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 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jnt_pos 0 0 0 + jnt_axis 1 0 0 + jnt_stiffness 0 + jnt_range -6.3 6.3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 32: + name left_rot_y + jnt_type 3 + jnt_qposadr 32 + jnt_dofadr 32 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 1 0 + jnt_stiffness 0 + jnt_range -6.3 6.3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 33: + name left_rot_z + jnt_type 3 + jnt_qposadr 33 + jnt_dofadr 33 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range -6.3 6.3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 34: + name left_j_index1y + jnt_type 3 + jnt_qposadr 34 + jnt_dofadr 34 + jnt_bodyid 25 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 35: + name left_j_index1z + jnt_type 3 + jnt_qposadr 35 + jnt_dofadr 35 + jnt_bodyid 26 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 36: + name left_j_index2 + jnt_type 3 + jnt_qposadr 36 + jnt_dofadr 36 + jnt_bodyid 27 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.7 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 37: + name left_j_index3 + jnt_type 3 + jnt_qposadr 37 + jnt_dofadr 37 + jnt_bodyid 28 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + 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a/processed/gigahand/assets/robots/mano/MUJOCO_LOG.TXT b/processed/gigahand/assets/robots/mano/MUJOCO_LOG.TXT new file mode 100644 index 0000000000000000000000000000000000000000..e42c5f2b36e0034d29d9a3e6ce36f9c3d2087bff --- /dev/null +++ b/processed/gigahand/assets/robots/mano/MUJOCO_LOG.TXT @@ -0,0 +1,6 @@ +Thu Sep 4 15:10:10 2025 +WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 2.4320. + +Thu Sep 4 16:37:17 2025 +ERROR: could not initialize GLFW + diff --git a/processed/gigahand/assets/robots/mano/bimanual.xml b/processed/gigahand/assets/robots/mano/bimanual.xml new file mode 100644 index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271 --- /dev/null +++ b/processed/gigahand/assets/robots/mano/bimanual.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/processed/gigahand/assets/robots/mano/left.xml b/processed/gigahand/assets/robots/mano/left.xml new file mode 100644 index 0000000000000000000000000000000000000000..56009ea120fcf87a28eb7d9383792a07e32dc59f --- /dev/null +++ b/processed/gigahand/assets/robots/mano/left.xml @@ -0,0 +1,341 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 20: + name right_j_ring2 + jnt_type 3 + jnt_qposadr 20 + jnt_dofadr 20 + jnt_bodyid 16 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.7 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 21: + name right_j_ring3 + jnt_type 3 + jnt_qposadr 21 + jnt_dofadr 21 + jnt_bodyid 17 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 22: + name right_j_thumb1x + jnt_type 3 + jnt_qposadr 22 + jnt_dofadr 22 + jnt_bodyid 18 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 1 0 0 + jnt_stiffness 0 + jnt_range 0 1 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 23: + name right_j_thumb1y + jnt_type 3 + jnt_qposadr 23 + jnt_dofadr 23 + jnt_bodyid 19 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 1 0 + jnt_stiffness 0 + jnt_range -0.26 1 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 24: + name right_j_thumb1z + jnt_type 3 + jnt_qposadr 24 + jnt_dofadr 24 + jnt_bodyid 20 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range -1 1 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 25: + name right_j_thumb2y + jnt_type 3 + jnt_qposadr 25 + jnt_dofadr 25 + jnt_bodyid 21 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 26: + name right_j_thumb2z + jnt_type 3 + jnt_qposadr 26 + jnt_dofadr 26 + jnt_bodyid 22 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 27: + name right_j_thumb3 + jnt_type 3 + jnt_qposadr 27 + jnt_dofadr 27 + jnt_bodyid 23 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 28: + name left_pos_x + jnt_type 2 + jnt_qposadr 28 + jnt_dofadr 28 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 1 0 0 + jnt_stiffness 0 + jnt_range -3 3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 29: + name left_pos_y + jnt_type 2 + jnt_qposadr 29 + jnt_dofadr 29 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 1 0 + jnt_stiffness 0 + jnt_range -3 3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 30: + name left_pos_z + jnt_type 2 + jnt_qposadr 30 + jnt_dofadr 30 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range -3 3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 31: + name left_rot_x + jnt_type 3 + jnt_qposadr 31 + jnt_dofadr 31 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 1 0 0 + jnt_stiffness 0 + jnt_range -6.3 6.3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 32: + name left_rot_y + jnt_type 3 + jnt_qposadr 32 + jnt_dofadr 32 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 1 0 + jnt_stiffness 0 + jnt_range -6.3 6.3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 33: + name left_rot_z + jnt_type 3 + jnt_qposadr 33 + jnt_dofadr 33 + jnt_bodyid 24 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 1 + jnt_stiffness 0 + jnt_range -6.3 6.3 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 34: + name left_j_index1y + jnt_type 3 + jnt_qposadr 34 + jnt_dofadr 34 + jnt_bodyid 25 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 35: + name left_j_index1z + jnt_type 3 + jnt_qposadr 35 + jnt_dofadr 35 + jnt_bodyid 26 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 36: + name left_j_index2 + jnt_type 3 + jnt_qposadr 36 + jnt_dofadr 36 + jnt_bodyid 27 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.7 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 37: + name left_j_index3 + jnt_type 3 + jnt_qposadr 37 + jnt_dofadr 37 + jnt_bodyid 28 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 38: + name left_j_middle1y + jnt_type 3 + jnt_qposadr 38 + jnt_dofadr 38 + jnt_bodyid 29 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 39: + name left_j_middle1z + jnt_type 3 + jnt_qposadr 39 + jnt_dofadr 39 + jnt_bodyid 30 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 40: + name left_j_middle2 + jnt_type 3 + jnt_qposadr 40 + jnt_dofadr 40 + jnt_bodyid 31 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.7 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 41: + name left_j_middle3 + jnt_type 3 + jnt_qposadr 41 + jnt_dofadr 41 + jnt_bodyid 32 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 42: + name left_j_pinky1y + jnt_type 3 + jnt_qposadr 42 + jnt_dofadr 42 + jnt_bodyid 33 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 43: + name left_j_pinky1z + jnt_type 3 + jnt_qposadr 43 + jnt_dofadr 43 + jnt_bodyid 34 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 44: + name left_j_pinky2 + jnt_type 3 + jnt_qposadr 44 + jnt_dofadr 44 + jnt_bodyid 35 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.7 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 45: + name left_j_pinky3 + jnt_type 3 + jnt_qposadr 45 + jnt_dofadr 45 + jnt_bodyid 36 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 46: + name left_j_ring1y + jnt_type 3 + jnt_qposadr 46 + jnt_dofadr 46 + jnt_bodyid 37 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 47: + name left_j_ring1z + jnt_type 3 + jnt_qposadr 47 + jnt_dofadr 47 + jnt_bodyid 38 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 48: + name left_j_ring2 + jnt_type 3 + jnt_qposadr 48 + jnt_dofadr 48 + jnt_bodyid 39 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.7 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 49: + name left_j_ring3 + jnt_type 3 + jnt_qposadr 49 + jnt_dofadr 49 + jnt_bodyid 40 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 50: + name left_j_thumb1x + jnt_type 3 + jnt_qposadr 50 + jnt_dofadr 50 + jnt_bodyid 41 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 1 0 0 + jnt_stiffness 0 + jnt_range 0 1 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 51: + name left_j_thumb1y + jnt_type 3 + jnt_qposadr 51 + jnt_dofadr 51 + jnt_bodyid 42 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.26 1 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 52: + name left_j_thumb1z + jnt_type 3 + jnt_qposadr 52 + jnt_dofadr 52 + jnt_bodyid 43 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range -1 1 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 53: + name left_j_thumb2y + jnt_type 3 + jnt_qposadr 53 + jnt_dofadr 53 + jnt_bodyid 44 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 -1 0 + jnt_stiffness 0 + jnt_range -0.17 0.17 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 54: + name left_j_thumb2z + jnt_type 3 + jnt_qposadr 54 + jnt_dofadr 54 + jnt_bodyid 45 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.6 + jnt_actfrcrange 0 0 + jnt_margin 0 + +JOINT 55: + name left_j_thumb3 + jnt_type 3 + jnt_qposadr 55 + jnt_dofadr 55 + jnt_bodyid 46 + jnt_group 0 + jnt_limited 1 + jnt_actfrclimited 0 + jnt_actgravcomp 0 + jnt_solref 0.02 1 + jnt_solimp 0.9 0.95 0.001 0.5 2 + jnt_pos 0 0 0 + jnt_axis 0 0 -1 + jnt_stiffness 0 + jnt_range 0 1.4 + jnt_actfrcrange 0 0 + jnt_margin 0 + + +DOF 0: + dof_bodyid 1 + dof_jntid 0 + dof_parentid -1 + dof_treeid 0 + dof_Madr 0 + dof_simplenum 0 + dof_solref 0.02 1 + dof_solimp 0.9 0.95 0.001 0.5 2 + dof_frictionloss 0 + dof_armature 1 + dof_damping 0 + dof_invweight0 0.67 + dof_M0 1.5 + +DOF 1: + dof_bodyid 1 + dof_jntid 1 + dof_parentid 0 + dof_treeid 0 + dof_Madr 1 + dof_simplenum 0 + dof_solref 0.02 1 + dof_solimp 0.9 0.95 0.001 0.5 2 + dof_frictionloss 0 + dof_armature 1 + dof_damping 0 + dof_invweight0 0.67 + dof_M0 1.5 + +DOF 2: + dof_bodyid 1 + dof_jntid 2 + dof_parentid 1 + dof_treeid 0 + dof_Madr 3 + dof_simplenum 0 + dof_solref 0.02 1 + dof_solimp 0.9 0.95 0.001 0.5 2 + dof_frictionloss 0 + dof_armature 1 + dof_damping 0 + dof_invweight0 0.67 + dof_M0 1.5 + +DOF 3: + dof_bodyid 1 + dof_jntid 3 + dof_parentid 2 + dof_treeid 0 + dof_Madr 6 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-1 + diff --git a/processed/oakink/assets/robots/mano/MUJOCO_LOG.TXT b/processed/oakink/assets/robots/mano/MUJOCO_LOG.TXT new file mode 100644 index 0000000000000000000000000000000000000000..e42c5f2b36e0034d29d9a3e6ce36f9c3d2087bff --- /dev/null +++ b/processed/oakink/assets/robots/mano/MUJOCO_LOG.TXT @@ -0,0 +1,6 @@ +Thu Sep 4 15:10:10 2025 +WARNING: Nan, Inf or huge value in QACC at DOF 0. The simulation is unstable. Time = 2.4320. + +Thu Sep 4 16:37:17 2025 +ERROR: could not initialize GLFW + diff --git a/processed/oakink/assets/robots/mano/bimanual.xml b/processed/oakink/assets/robots/mano/bimanual.xml new file mode 100644 index 0000000000000000000000000000000000000000..debb1c3e9ab50d0402f803f629151d5135f7d271 --- /dev/null +++ b/processed/oakink/assets/robots/mano/bimanual.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/processed/oakink/assets/robots/mano/left.xml b/processed/oakink/assets/robots/mano/left.xml new file mode 100644 index 0000000000000000000000000000000000000000..56009ea120fcf87a28eb7d9383792a07e32dc59f --- /dev/null +++ b/processed/oakink/assets/robots/mano/left.xml @@ -0,0 +1,341 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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"/home/pcy/Research/code/retarget/example_datasets/processed/oakink/assets/objects/C12001/convex" + "ref_dt": 0.02 } \ No newline at end of file diff --git a/processed/oakink/mano/bimanual/wipe_board/0/trajectory_keypoints.npz b/processed/oakink/mano/bimanual/wipe_board/0/trajectory_keypoints.npz new file mode 100644 index 0000000000000000000000000000000000000000..4efcbf37c5a2df55d86dd72d5781618ecc810f5d --- /dev/null +++ b/processed/oakink/mano/bimanual/wipe_board/0/trajectory_keypoints.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5148d58f6507e5bf05cad8b663b02afbd94d2597130caee202e21a72c17aec68 +size 300960