jc-bao
commited on
Commit
·
93b17bd
1
Parent(s):
12db20b
:tada: add bimanual example to fre with allegro
Browse files- processed/fair_fre/allegro/bimanual/pour/0/trajectory_kinematic.npz +1 -1
- processed/fair_fre/allegro/bimanual/pour/0/trajectory_mjwp.npz +1 -1
- processed/fair_fre/allegro/bimanual/pour/0/visualization_mjwp.mp4 +2 -2
- processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_kinematic.npz +1 -1
- processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz +1 -1
- processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4 +2 -2
- processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz +1 -1
- processed/oakink/allegro/bimanual/unplug/scene.xml +102 -73
- processed/oakink/allegro/bimanual/unplug/scene_eq.xml +102 -73
- processed/oakink/allegro/bimanual/unplug/{0/task_info.json → task_info.json} +0 -0
- processed/oakink/allegro/bimanual/wipe_board/0/trajectory_mjwp.npz +3 -0
- processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp.mp4 +3 -0
- processed/oakink/mano/bimanual/unplug/0/trajectory_kinematic.npz +2 -2
- processed/oakink/mano/bimanual/unplug/{0/task_info.json → task_info.json} +0 -0
processed/fair_fre/allegro/bimanual/pour/0/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 320236
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6365d86297559e941c0faac66ab1abaa8c9433ec617609191e9d79e259e43783
|
| 3 |
size 320236
|
processed/fair_fre/allegro/bimanual/pour/0/trajectory_mjwp.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 597346
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1b7dd0c04efb088faec6ddf643410fce81185654912c0824fe629dfd567ce499
|
| 3 |
size 597346
|
processed/fair_fre/allegro/bimanual/pour/0/visualization_mjwp.mp4
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 sha256:2f849a487400c7126aae9d94addcb296d29c584e7edba8f5ae42816df8b708f6
|
| 3 |
+
size 600300
|
processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 486844
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3f0d9c1b03683e4438f94a8d430c88dccab67ec9f3a3b3963a6504f51249b96e
|
| 3 |
size 486844
|
processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 1788562
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca0eaba0e5491adb3c0df2cb22e65d76752f0f69feba0062a00e336868ba7361
|
| 3 |
size 1788562
|
processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4
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 sha256:6bd675b58ac468be99dc58cf294d0507a8d6548e648432e42a709ef9cde0d068
|
| 3 |
+
size 1523971
|
processed/oakink/allegro/bimanual/unplug/0/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
size 562316
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:571d6197a5b1ebbf6d49441abf73b46dca39ab25b3a3e7be7df7bc456a89155c
|
| 3 |
size 562316
|
processed/oakink/allegro/bimanual/unplug/scene.xml
CHANGED
|
@@ -1,5 +1,5 @@
|
|
| 1 |
<mujoco model="bimanual">
|
| 2 |
-
<compiler angle="radian" meshdir="
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
@@ -303,19 +303,19 @@
|
|
| 303 |
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 304 |
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 305 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 306 |
-
<joint name="
|
| 307 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 308 |
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 309 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 310 |
-
<joint name="
|
| 311 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 312 |
<geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 313 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 314 |
-
<joint name="
|
| 315 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 316 |
<geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 317 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 318 |
-
<joint name="
|
| 319 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 320 |
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 321 |
<body name="right_ff_tip">
|
|
@@ -330,19 +330,19 @@
|
|
| 330 |
</body>
|
| 331 |
</body>
|
| 332 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 333 |
-
<joint name="
|
| 334 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 335 |
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 336 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 337 |
-
<joint name="
|
| 338 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 339 |
<geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 340 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 341 |
-
<joint name="
|
| 342 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 343 |
<geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 344 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 345 |
-
<joint name="
|
| 346 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 347 |
<geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 348 |
<body name="right_mf_tip">
|
|
@@ -357,19 +357,19 @@
|
|
| 357 |
</body>
|
| 358 |
</body>
|
| 359 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 360 |
-
<joint name="
|
| 361 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 362 |
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 363 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 364 |
-
<joint name="
|
| 365 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 366 |
<geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 367 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 368 |
-
<joint name="
|
| 369 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 370 |
<geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 371 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 372 |
-
<joint name="
|
| 373 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 374 |
<geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 375 |
<body name="right_rf_tip">
|
|
@@ -384,19 +384,19 @@
|
|
| 384 |
</body>
|
| 385 |
</body>
|
| 386 |
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 387 |
-
<joint name="
|
| 388 |
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 389 |
<geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 390 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 391 |
-
<joint name="
|
| 392 |
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 393 |
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 394 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 395 |
-
<joint name="
|
| 396 |
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 397 |
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 398 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 399 |
-
<joint name="
|
| 400 |
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 401 |
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 402 |
<body name="right_th_tip">
|
|
@@ -423,19 +423,19 @@
|
|
| 423 |
<site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 424 |
<camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 425 |
<body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 426 |
-
<joint name="
|
| 427 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 428 |
<geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 429 |
<body name="left_rf_proximal" pos="0 0 0.0164">
|
| 430 |
-
<joint name="
|
| 431 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 432 |
<geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 433 |
<body name="left_rf_medial" pos="0 0 0.054">
|
| 434 |
-
<joint name="
|
| 435 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 436 |
<geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 437 |
<body name="left_rf_distal" pos="0 0 0.0384">
|
| 438 |
-
<joint name="
|
| 439 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 440 |
<geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 441 |
<body name="left_rf_tip">
|
|
@@ -450,19 +450,19 @@
|
|
| 450 |
</body>
|
| 451 |
</body>
|
| 452 |
<body name="left_mf_base" pos="0 0 0.0007">
|
| 453 |
-
<joint name="
|
| 454 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 455 |
<geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 456 |
<body name="left_mf_proximal" pos="0 0 0.0164">
|
| 457 |
-
<joint name="
|
| 458 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 459 |
<geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 460 |
<body name="left_mf_medial" pos="0 0 0.054">
|
| 461 |
-
<joint name="
|
| 462 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 463 |
<geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 464 |
<body name="left_mf_distal" pos="0 0 0.0384">
|
| 465 |
-
<joint name="
|
| 466 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 467 |
<geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 468 |
<body name="left_mf_tip">
|
|
@@ -477,19 +477,19 @@
|
|
| 477 |
</body>
|
| 478 |
</body>
|
| 479 |
<body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 480 |
-
<joint name="
|
| 481 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 482 |
<geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 483 |
<body name="left_ff_proximal" pos="0 0 0.0164">
|
| 484 |
-
<joint name="
|
| 485 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 486 |
<geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 487 |
<body name="left_ff_medial" pos="0 0 0.054">
|
| 488 |
-
<joint name="
|
| 489 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 490 |
<geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 491 |
<body name="left_ff_distal" pos="0 0 0.0384">
|
| 492 |
-
<joint name="
|
| 493 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 494 |
<geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 495 |
<body name="left_ff_tip">
|
|
@@ -504,19 +504,19 @@
|
|
| 504 |
</body>
|
| 505 |
</body>
|
| 506 |
<body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
|
| 507 |
-
<joint name="
|
| 508 |
<geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
|
| 509 |
<geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 510 |
<body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
|
| 511 |
-
<joint name="
|
| 512 |
<geom class="left_visual" mesh="left_link_13.0"/>
|
| 513 |
<geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 514 |
<body name="left_th_medial" pos="0 0 0.0177">
|
| 515 |
-
<joint name="
|
| 516 |
<geom class="left_visual" mesh="left_link_14.0"/>
|
| 517 |
<geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 518 |
<body name="left_th_distal" pos="0 0 0.0514">
|
| 519 |
-
<joint name="
|
| 520 |
<geom class="left_visual" mesh="left_link_15.0"/>
|
| 521 |
<geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 522 |
<body name="left_th_tip">
|
|
@@ -533,14 +533,14 @@
|
|
| 533 |
</body>
|
| 534 |
<body name="right_object">
|
| 535 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 536 |
-
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
|
| 537 |
-
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
|
| 538 |
-
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
|
| 539 |
-
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
|
| 540 |
-
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
|
| 541 |
-
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
|
| 542 |
-
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
|
| 543 |
-
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
|
| 544 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 545 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 546 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
|
@@ -618,6 +618,35 @@
|
|
| 618 |
</worldbody>
|
| 619 |
|
| 620 |
<contact>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 621 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 622 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 623 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
|
@@ -1162,43 +1191,43 @@
|
|
| 1162 |
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 1163 |
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 1164 |
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 1165 |
-
<general name="right_ffa0" class="right_base" joint="
|
| 1166 |
-
<general name="right_ffa1" class="right_proximal" joint="
|
| 1167 |
-
<general name="right_ffa2" class="right_medial" joint="
|
| 1168 |
-
<general name="right_ffa3" class="right_distal" joint="
|
| 1169 |
-
<general name="right_mfa0" class="right_base" joint="
|
| 1170 |
-
<general name="right_mfa1" class="right_proximal" joint="
|
| 1171 |
-
<general name="right_mfa2" class="right_medial" joint="
|
| 1172 |
-
<general name="right_mfa3" class="right_distal" joint="
|
| 1173 |
-
<general name="right_rfa0" class="right_base" joint="
|
| 1174 |
-
<general name="right_rfa1" class="right_proximal" joint="
|
| 1175 |
-
<general name="right_rfa2" class="right_medial" joint="
|
| 1176 |
-
<general name="right_rfa3" class="right_distal" joint="
|
| 1177 |
-
<general name="right_tha0" class="right_thumb_base" joint="
|
| 1178 |
-
<general name="right_tha1" class="right_thumb_proximal" joint="
|
| 1179 |
-
<general name="right_tha2" class="right_thumb_medial" joint="
|
| 1180 |
-
<general name="right_tha3" class="right_thumb_distal" joint="
|
| 1181 |
<general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
|
| 1182 |
<general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
|
| 1183 |
<general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
|
| 1184 |
<general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
|
| 1185 |
<general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
|
| 1186 |
<general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
|
| 1187 |
-
<general name="left_rfa0" class="left_base" joint="
|
| 1188 |
-
<general name="left_rfa1" class="left_proximal" joint="
|
| 1189 |
-
<general name="left_rfa2" class="left_medial" joint="
|
| 1190 |
-
<general name="left_rfa3" class="left_distal" joint="
|
| 1191 |
-
<general name="left_mfa0" class="left_base" joint="
|
| 1192 |
-
<general name="left_mfa1" class="left_proximal" joint="
|
| 1193 |
-
<general name="left_mfa2" class="left_medial" joint="
|
| 1194 |
-
<general name="left_mfa3" class="left_distal" joint="
|
| 1195 |
-
<general name="left_ffa0" class="left_base" joint="
|
| 1196 |
-
<general name="left_ffa1" class="left_proximal" joint="
|
| 1197 |
-
<general name="left_ffa2" class="left_medial" joint="
|
| 1198 |
-
<general name="left_ffa3" class="left_distal" joint="
|
| 1199 |
-
<general name="left_tha0" class="left_thumb_base" joint="
|
| 1200 |
-
<general name="left_tha1" class="left_thumb_proximal" joint="
|
| 1201 |
-
<general name="left_tha2" class="left_thumb_medial" joint="
|
| 1202 |
-
<general name="left_tha3" class="left_thumb_distal" joint="
|
| 1203 |
</actuator>
|
| 1204 |
</mujoco>
|
|
|
|
| 1 |
<mujoco model="bimanual">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
|
|
| 303 |
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 304 |
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 305 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 306 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 307 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 308 |
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 309 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 310 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 311 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 312 |
<geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 313 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 314 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 315 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 316 |
<geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 317 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 318 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 319 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 320 |
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 321 |
<body name="right_ff_tip">
|
|
|
|
| 330 |
</body>
|
| 331 |
</body>
|
| 332 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 333 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 334 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 335 |
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 336 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 337 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 338 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 339 |
<geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 340 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 341 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 342 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 343 |
<geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 344 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 345 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 346 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 347 |
<geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 348 |
<body name="right_mf_tip">
|
|
|
|
| 357 |
</body>
|
| 358 |
</body>
|
| 359 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 360 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 361 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 362 |
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 363 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 364 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 365 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 366 |
<geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 367 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 368 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 369 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 370 |
<geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 371 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 372 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 373 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 374 |
<geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 375 |
<body name="right_rf_tip">
|
|
|
|
| 384 |
</body>
|
| 385 |
</body>
|
| 386 |
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 387 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
|
| 388 |
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 389 |
<geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 390 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 391 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 392 |
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 393 |
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 394 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 395 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 396 |
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 397 |
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 398 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 399 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 400 |
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 401 |
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 402 |
<body name="right_th_tip">
|
|
|
|
| 423 |
<site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 424 |
<camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 425 |
<body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 426 |
+
<joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 427 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 428 |
<geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 429 |
<body name="left_rf_proximal" pos="0 0 0.0164">
|
| 430 |
+
<joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 431 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 432 |
<geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 433 |
<body name="left_rf_medial" pos="0 0 0.054">
|
| 434 |
+
<joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 435 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 436 |
<geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 437 |
<body name="left_rf_distal" pos="0 0 0.0384">
|
| 438 |
+
<joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 439 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 440 |
<geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 441 |
<body name="left_rf_tip">
|
|
|
|
| 450 |
</body>
|
| 451 |
</body>
|
| 452 |
<body name="left_mf_base" pos="0 0 0.0007">
|
| 453 |
+
<joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 454 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 455 |
<geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 456 |
<body name="left_mf_proximal" pos="0 0 0.0164">
|
| 457 |
+
<joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 458 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 459 |
<geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 460 |
<body name="left_mf_medial" pos="0 0 0.054">
|
| 461 |
+
<joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 462 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 463 |
<geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 464 |
<body name="left_mf_distal" pos="0 0 0.0384">
|
| 465 |
+
<joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 466 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 467 |
<geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 468 |
<body name="left_mf_tip">
|
|
|
|
| 477 |
</body>
|
| 478 |
</body>
|
| 479 |
<body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 480 |
+
<joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 481 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 482 |
<geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 483 |
<body name="left_ff_proximal" pos="0 0 0.0164">
|
| 484 |
+
<joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 485 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 486 |
<geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 487 |
<body name="left_ff_medial" pos="0 0 0.054">
|
| 488 |
+
<joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 489 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 490 |
<geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 491 |
<body name="left_ff_distal" pos="0 0 0.0384">
|
| 492 |
+
<joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 493 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 494 |
<geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 495 |
<body name="left_ff_tip">
|
|
|
|
| 504 |
</body>
|
| 505 |
</body>
|
| 506 |
<body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
|
| 507 |
+
<joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
|
| 508 |
<geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
|
| 509 |
<geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 510 |
<body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
|
| 511 |
+
<joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 512 |
<geom class="left_visual" mesh="left_link_13.0"/>
|
| 513 |
<geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 514 |
<body name="left_th_medial" pos="0 0 0.0177">
|
| 515 |
+
<joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 516 |
<geom class="left_visual" mesh="left_link_14.0"/>
|
| 517 |
<geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 518 |
<body name="left_th_distal" pos="0 0 0.0514">
|
| 519 |
+
<joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 520 |
<geom class="left_visual" mesh="left_link_15.0"/>
|
| 521 |
<geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 522 |
<body name="left_th_tip">
|
|
|
|
| 533 |
</body>
|
| 534 |
<body name="right_object">
|
| 535 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 536 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 537 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 538 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 539 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 540 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 541 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 542 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 543 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 544 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 545 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 546 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 618 |
</worldbody>
|
| 619 |
|
| 620 |
<contact>
|
| 621 |
+
<pair geom1="floor" geom2="floor" name="floor_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 622 |
+
<pair geom1="floor" geom2="right_palm_collision" name="right_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 623 |
+
<pair geom1="floor" geom2="right_index_proximal_collision" name="right_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 624 |
+
<pair geom1="floor" geom2="right_index_intermediate_collision" name="right_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 625 |
+
<pair geom1="floor" geom2="right_index_collision" name="right_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 626 |
+
<pair geom1="floor" geom2="right_middle_proximal_collision" name="right_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 627 |
+
<pair geom1="floor" geom2="right_middle_intermediate_collision" name="right_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 628 |
+
<pair geom1="floor" geom2="right_middle_collision" name="right_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 629 |
+
<pair geom1="floor" geom2="right_ring_proximal_collision" name="right_ring_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 630 |
+
<pair geom1="floor" geom2="right_ring_intermediate_collision" name="right_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 631 |
+
<pair geom1="floor" geom2="right_ring_collision" name="right_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 632 |
+
<pair geom1="floor" geom2="right_thumb_proximal_collision" name="right_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 633 |
+
<pair geom1="floor" geom2="right_thumb_intermediate_collision" name="right_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 634 |
+
<pair geom1="floor" geom2="right_thumb_distal_collision" name="right_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 635 |
+
<pair geom1="floor" geom2="right_thumb_collision" name="right_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 636 |
+
<pair geom1="floor" geom2="left_palm_collision" name="left_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 637 |
+
<pair geom1="floor" geom2="left_ring_base_collision" name="left_ring_base_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 638 |
+
<pair geom1="floor" geom2="left_ring_intermediate_collision" name="left_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 639 |
+
<pair geom1="floor" geom2="left_ring_collision" name="left_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 640 |
+
<pair geom1="floor" geom2="left_middle_proximal_collision" name="left_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 641 |
+
<pair geom1="floor" geom2="left_middle_intermediate_collision" name="left_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 642 |
+
<pair geom1="floor" geom2="left_middle_collision" name="left_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 643 |
+
<pair geom1="floor" geom2="left_index_proximal_collision" name="left_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 644 |
+
<pair geom1="floor" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 645 |
+
<pair geom1="floor" geom2="left_index_collision" name="left_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 646 |
+
<pair geom1="floor" geom2="left_thumb_proximal_collision" name="left_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 647 |
+
<pair geom1="floor" geom2="left_thumb_intermediate_collision" name="left_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 648 |
+
<pair geom1="floor" geom2="left_thumb_distal_collision" name="left_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 649 |
+
<pair geom1="floor" geom2="left_thumb_collision" name="left_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 650 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 651 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 652 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
|
|
|
| 1191 |
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 1192 |
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 1193 |
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 1194 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 1195 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 1196 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 1197 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 1198 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 1199 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 1200 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 1201 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 1202 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 1203 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 1204 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 1205 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 1206 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 1207 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 1208 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 1209 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 1210 |
<general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
|
| 1211 |
<general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
|
| 1212 |
<general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
|
| 1213 |
<general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
|
| 1214 |
<general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
|
| 1215 |
<general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
|
| 1216 |
+
<general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
|
| 1217 |
+
<general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
|
| 1218 |
+
<general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
|
| 1219 |
+
<general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
|
| 1220 |
+
<general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
|
| 1221 |
+
<general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
|
| 1222 |
+
<general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
|
| 1223 |
+
<general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
|
| 1224 |
+
<general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
|
| 1225 |
+
<general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
|
| 1226 |
+
<general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
|
| 1227 |
+
<general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
|
| 1228 |
+
<general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
|
| 1229 |
+
<general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
|
| 1230 |
+
<general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
|
| 1231 |
+
<general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
|
| 1232 |
</actuator>
|
| 1233 |
</mujoco>
|
processed/oakink/allegro/bimanual/unplug/scene_eq.xml
CHANGED
|
@@ -1,5 +1,5 @@
|
|
| 1 |
<mujoco model="bimanual">
|
| 2 |
-
<compiler angle="radian" meshdir="
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
@@ -303,19 +303,19 @@
|
|
| 303 |
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 304 |
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 305 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 306 |
-
<joint name="
|
| 307 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 308 |
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 309 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 310 |
-
<joint name="
|
| 311 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 312 |
<geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 313 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 314 |
-
<joint name="
|
| 315 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 316 |
<geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 317 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 318 |
-
<joint name="
|
| 319 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 320 |
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 321 |
<body name="right_ff_tip">
|
|
@@ -330,19 +330,19 @@
|
|
| 330 |
</body>
|
| 331 |
</body>
|
| 332 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 333 |
-
<joint name="
|
| 334 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 335 |
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 336 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 337 |
-
<joint name="
|
| 338 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 339 |
<geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 340 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 341 |
-
<joint name="
|
| 342 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 343 |
<geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 344 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 345 |
-
<joint name="
|
| 346 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 347 |
<geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 348 |
<body name="right_mf_tip">
|
|
@@ -357,19 +357,19 @@
|
|
| 357 |
</body>
|
| 358 |
</body>
|
| 359 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 360 |
-
<joint name="
|
| 361 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 362 |
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 363 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 364 |
-
<joint name="
|
| 365 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 366 |
<geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 367 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 368 |
-
<joint name="
|
| 369 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 370 |
<geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 371 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 372 |
-
<joint name="
|
| 373 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 374 |
<geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 375 |
<body name="right_rf_tip">
|
|
@@ -384,19 +384,19 @@
|
|
| 384 |
</body>
|
| 385 |
</body>
|
| 386 |
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 387 |
-
<joint name="
|
| 388 |
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 389 |
<geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 390 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 391 |
-
<joint name="
|
| 392 |
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 393 |
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 394 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 395 |
-
<joint name="
|
| 396 |
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 397 |
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 398 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 399 |
-
<joint name="
|
| 400 |
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 401 |
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 402 |
<body name="right_th_tip">
|
|
@@ -423,19 +423,19 @@
|
|
| 423 |
<site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 424 |
<camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 425 |
<body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 426 |
-
<joint name="
|
| 427 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 428 |
<geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 429 |
<body name="left_rf_proximal" pos="0 0 0.0164">
|
| 430 |
-
<joint name="
|
| 431 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 432 |
<geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 433 |
<body name="left_rf_medial" pos="0 0 0.054">
|
| 434 |
-
<joint name="
|
| 435 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 436 |
<geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 437 |
<body name="left_rf_distal" pos="0 0 0.0384">
|
| 438 |
-
<joint name="
|
| 439 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 440 |
<geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 441 |
<body name="left_rf_tip">
|
|
@@ -450,19 +450,19 @@
|
|
| 450 |
</body>
|
| 451 |
</body>
|
| 452 |
<body name="left_mf_base" pos="0 0 0.0007">
|
| 453 |
-
<joint name="
|
| 454 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 455 |
<geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 456 |
<body name="left_mf_proximal" pos="0 0 0.0164">
|
| 457 |
-
<joint name="
|
| 458 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 459 |
<geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 460 |
<body name="left_mf_medial" pos="0 0 0.054">
|
| 461 |
-
<joint name="
|
| 462 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 463 |
<geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 464 |
<body name="left_mf_distal" pos="0 0 0.0384">
|
| 465 |
-
<joint name="
|
| 466 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 467 |
<geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 468 |
<body name="left_mf_tip">
|
|
@@ -477,19 +477,19 @@
|
|
| 477 |
</body>
|
| 478 |
</body>
|
| 479 |
<body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 480 |
-
<joint name="
|
| 481 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 482 |
<geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 483 |
<body name="left_ff_proximal" pos="0 0 0.0164">
|
| 484 |
-
<joint name="
|
| 485 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 486 |
<geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 487 |
<body name="left_ff_medial" pos="0 0 0.054">
|
| 488 |
-
<joint name="
|
| 489 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 490 |
<geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 491 |
<body name="left_ff_distal" pos="0 0 0.0384">
|
| 492 |
-
<joint name="
|
| 493 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 494 |
<geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 495 |
<body name="left_ff_tip">
|
|
@@ -504,19 +504,19 @@
|
|
| 504 |
</body>
|
| 505 |
</body>
|
| 506 |
<body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
|
| 507 |
-
<joint name="
|
| 508 |
<geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
|
| 509 |
<geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 510 |
<body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
|
| 511 |
-
<joint name="
|
| 512 |
<geom class="left_visual" mesh="left_link_13.0"/>
|
| 513 |
<geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 514 |
<body name="left_th_medial" pos="0 0 0.0177">
|
| 515 |
-
<joint name="
|
| 516 |
<geom class="left_visual" mesh="left_link_14.0"/>
|
| 517 |
<geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 518 |
<body name="left_th_distal" pos="0 0 0.0514">
|
| 519 |
-
<joint name="
|
| 520 |
<geom class="left_visual" mesh="left_link_15.0"/>
|
| 521 |
<geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 522 |
<body name="left_th_tip">
|
|
@@ -533,14 +533,14 @@
|
|
| 533 |
</body>
|
| 534 |
<body name="right_object">
|
| 535 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 536 |
-
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
|
| 537 |
-
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
|
| 538 |
-
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
|
| 539 |
-
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
|
| 540 |
-
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
|
| 541 |
-
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
|
| 542 |
-
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
|
| 543 |
-
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
|
| 544 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 545 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 546 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
|
@@ -618,6 +618,35 @@
|
|
| 618 |
</worldbody>
|
| 619 |
|
| 620 |
<contact>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 621 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 622 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 623 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
|
@@ -1181,43 +1210,43 @@
|
|
| 1181 |
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 1182 |
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 1183 |
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 1184 |
-
<general name="right_ffa0" class="right_base" joint="
|
| 1185 |
-
<general name="right_ffa1" class="right_proximal" joint="
|
| 1186 |
-
<general name="right_ffa2" class="right_medial" joint="
|
| 1187 |
-
<general name="right_ffa3" class="right_distal" joint="
|
| 1188 |
-
<general name="right_mfa0" class="right_base" joint="
|
| 1189 |
-
<general name="right_mfa1" class="right_proximal" joint="
|
| 1190 |
-
<general name="right_mfa2" class="right_medial" joint="
|
| 1191 |
-
<general name="right_mfa3" class="right_distal" joint="
|
| 1192 |
-
<general name="right_rfa0" class="right_base" joint="
|
| 1193 |
-
<general name="right_rfa1" class="right_proximal" joint="
|
| 1194 |
-
<general name="right_rfa2" class="right_medial" joint="
|
| 1195 |
-
<general name="right_rfa3" class="right_distal" joint="
|
| 1196 |
-
<general name="right_tha0" class="right_thumb_base" joint="
|
| 1197 |
-
<general name="right_tha1" class="right_thumb_proximal" joint="
|
| 1198 |
-
<general name="right_tha2" class="right_thumb_medial" joint="
|
| 1199 |
-
<general name="right_tha3" class="right_thumb_distal" joint="
|
| 1200 |
<general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
|
| 1201 |
<general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
|
| 1202 |
<general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
|
| 1203 |
<general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
|
| 1204 |
<general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
|
| 1205 |
<general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
|
| 1206 |
-
<general name="left_rfa0" class="left_base" joint="
|
| 1207 |
-
<general name="left_rfa1" class="left_proximal" joint="
|
| 1208 |
-
<general name="left_rfa2" class="left_medial" joint="
|
| 1209 |
-
<general name="left_rfa3" class="left_distal" joint="
|
| 1210 |
-
<general name="left_mfa0" class="left_base" joint="
|
| 1211 |
-
<general name="left_mfa1" class="left_proximal" joint="
|
| 1212 |
-
<general name="left_mfa2" class="left_medial" joint="
|
| 1213 |
-
<general name="left_mfa3" class="left_distal" joint="
|
| 1214 |
-
<general name="left_ffa0" class="left_base" joint="
|
| 1215 |
-
<general name="left_ffa1" class="left_proximal" joint="
|
| 1216 |
-
<general name="left_ffa2" class="left_medial" joint="
|
| 1217 |
-
<general name="left_ffa3" class="left_distal" joint="
|
| 1218 |
-
<general name="left_tha0" class="left_thumb_base" joint="
|
| 1219 |
-
<general name="left_tha1" class="left_thumb_proximal" joint="
|
| 1220 |
-
<general name="left_tha2" class="left_thumb_medial" joint="
|
| 1221 |
-
<general name="left_tha3" class="left_thumb_distal" joint="
|
| 1222 |
</actuator>
|
| 1223 |
</mujoco>
|
|
|
|
| 1 |
<mujoco model="bimanual">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
|
|
| 303 |
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 304 |
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 305 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 306 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 307 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 308 |
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 309 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 310 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 311 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 312 |
<geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 313 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 314 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 315 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 316 |
<geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 317 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 318 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 319 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 320 |
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 321 |
<body name="right_ff_tip">
|
|
|
|
| 330 |
</body>
|
| 331 |
</body>
|
| 332 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 333 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 334 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 335 |
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 336 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 337 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 338 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 339 |
<geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 340 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 341 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 342 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 343 |
<geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 344 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 345 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 346 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 347 |
<geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 348 |
<body name="right_mf_tip">
|
|
|
|
| 357 |
</body>
|
| 358 |
</body>
|
| 359 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 360 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 361 |
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 362 |
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 363 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 364 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 365 |
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 366 |
<geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 367 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 368 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 369 |
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 370 |
<geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 371 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 372 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 373 |
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 374 |
<geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 375 |
<body name="right_rf_tip">
|
|
|
|
| 384 |
</body>
|
| 385 |
</body>
|
| 386 |
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 387 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
|
| 388 |
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 389 |
<geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 390 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 391 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 392 |
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 393 |
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 394 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 395 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 396 |
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 397 |
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 398 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 399 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 400 |
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 401 |
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 402 |
<body name="right_th_tip">
|
|
|
|
| 423 |
<site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 424 |
<camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 425 |
<body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 426 |
+
<joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 427 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 428 |
<geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 429 |
<body name="left_rf_proximal" pos="0 0 0.0164">
|
| 430 |
+
<joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 431 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 432 |
<geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 433 |
<body name="left_rf_medial" pos="0 0 0.054">
|
| 434 |
+
<joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 435 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 436 |
<geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 437 |
<body name="left_rf_distal" pos="0 0 0.0384">
|
| 438 |
+
<joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 439 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 440 |
<geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 441 |
<body name="left_rf_tip">
|
|
|
|
| 450 |
</body>
|
| 451 |
</body>
|
| 452 |
<body name="left_mf_base" pos="0 0 0.0007">
|
| 453 |
+
<joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 454 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 455 |
<geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 456 |
<body name="left_mf_proximal" pos="0 0 0.0164">
|
| 457 |
+
<joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 458 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 459 |
<geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 460 |
<body name="left_mf_medial" pos="0 0 0.054">
|
| 461 |
+
<joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 462 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 463 |
<geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 464 |
<body name="left_mf_distal" pos="0 0 0.0384">
|
| 465 |
+
<joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 466 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 467 |
<geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 468 |
<body name="left_mf_tip">
|
|
|
|
| 477 |
</body>
|
| 478 |
</body>
|
| 479 |
<body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 480 |
+
<joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 481 |
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 482 |
<geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 483 |
<body name="left_ff_proximal" pos="0 0 0.0164">
|
| 484 |
+
<joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 485 |
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 486 |
<geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 487 |
<body name="left_ff_medial" pos="0 0 0.054">
|
| 488 |
+
<joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 489 |
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 490 |
<geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 491 |
<body name="left_ff_distal" pos="0 0 0.0384">
|
| 492 |
+
<joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 493 |
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 494 |
<geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 495 |
<body name="left_ff_tip">
|
|
|
|
| 504 |
</body>
|
| 505 |
</body>
|
| 506 |
<body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
|
| 507 |
+
<joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
|
| 508 |
<geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
|
| 509 |
<geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 510 |
<body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
|
| 511 |
+
<joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 512 |
<geom class="left_visual" mesh="left_link_13.0"/>
|
| 513 |
<geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 514 |
<body name="left_th_medial" pos="0 0 0.0177">
|
| 515 |
+
<joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 516 |
<geom class="left_visual" mesh="left_link_14.0"/>
|
| 517 |
<geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 518 |
<body name="left_th_distal" pos="0 0 0.0514">
|
| 519 |
+
<joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 520 |
<geom class="left_visual" mesh="left_link_15.0"/>
|
| 521 |
<geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 522 |
<body name="left_th_tip">
|
|
|
|
| 533 |
</body>
|
| 534 |
<body name="right_object">
|
| 535 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 536 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 537 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 538 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 539 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 540 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 541 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 542 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 543 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 544 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 545 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 546 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 618 |
</worldbody>
|
| 619 |
|
| 620 |
<contact>
|
| 621 |
+
<pair geom1="floor" geom2="floor" name="floor_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 622 |
+
<pair geom1="floor" geom2="right_palm_collision" name="right_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 623 |
+
<pair geom1="floor" geom2="right_index_proximal_collision" name="right_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 624 |
+
<pair geom1="floor" geom2="right_index_intermediate_collision" name="right_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 625 |
+
<pair geom1="floor" geom2="right_index_collision" name="right_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 626 |
+
<pair geom1="floor" geom2="right_middle_proximal_collision" name="right_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 627 |
+
<pair geom1="floor" geom2="right_middle_intermediate_collision" name="right_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 628 |
+
<pair geom1="floor" geom2="right_middle_collision" name="right_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 629 |
+
<pair geom1="floor" geom2="right_ring_proximal_collision" name="right_ring_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 630 |
+
<pair geom1="floor" geom2="right_ring_intermediate_collision" name="right_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 631 |
+
<pair geom1="floor" geom2="right_ring_collision" name="right_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 632 |
+
<pair geom1="floor" geom2="right_thumb_proximal_collision" name="right_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 633 |
+
<pair geom1="floor" geom2="right_thumb_intermediate_collision" name="right_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 634 |
+
<pair geom1="floor" geom2="right_thumb_distal_collision" name="right_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 635 |
+
<pair geom1="floor" geom2="right_thumb_collision" name="right_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 636 |
+
<pair geom1="floor" geom2="left_palm_collision" name="left_palm_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 637 |
+
<pair geom1="floor" geom2="left_ring_base_collision" name="left_ring_base_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 638 |
+
<pair geom1="floor" geom2="left_ring_intermediate_collision" name="left_ring_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 639 |
+
<pair geom1="floor" geom2="left_ring_collision" name="left_ring_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 640 |
+
<pair geom1="floor" geom2="left_middle_proximal_collision" name="left_middle_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 641 |
+
<pair geom1="floor" geom2="left_middle_intermediate_collision" name="left_middle_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 642 |
+
<pair geom1="floor" geom2="left_middle_collision" name="left_middle_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 643 |
+
<pair geom1="floor" geom2="left_index_proximal_collision" name="left_index_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 644 |
+
<pair geom1="floor" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 645 |
+
<pair geom1="floor" geom2="left_index_collision" name="left_index_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 646 |
+
<pair geom1="floor" geom2="left_thumb_proximal_collision" name="left_thumb_proximal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 647 |
+
<pair geom1="floor" geom2="left_thumb_intermediate_collision" name="left_thumb_intermediate_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 648 |
+
<pair geom1="floor" geom2="left_thumb_distal_collision" name="left_thumb_distal_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 649 |
+
<pair geom1="floor" geom2="left_thumb_collision" name="left_thumb_collision_floor" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 650 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 651 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 652 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
|
|
|
| 1210 |
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 1211 |
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 1212 |
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 1213 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 1214 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 1215 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 1216 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 1217 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 1218 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 1219 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 1220 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 1221 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 1222 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 1223 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 1224 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 1225 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 1226 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 1227 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 1228 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 1229 |
<general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
|
| 1230 |
<general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
|
| 1231 |
<general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
|
| 1232 |
<general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
|
| 1233 |
<general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
|
| 1234 |
<general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
|
| 1235 |
+
<general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
|
| 1236 |
+
<general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
|
| 1237 |
+
<general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
|
| 1238 |
+
<general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
|
| 1239 |
+
<general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
|
| 1240 |
+
<general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
|
| 1241 |
+
<general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
|
| 1242 |
+
<general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
|
| 1243 |
+
<general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
|
| 1244 |
+
<general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
|
| 1245 |
+
<general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
|
| 1246 |
+
<general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
|
| 1247 |
+
<general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
|
| 1248 |
+
<general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
|
| 1249 |
+
<general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
|
| 1250 |
+
<general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
|
| 1251 |
</actuator>
|
| 1252 |
</mujoco>
|
processed/oakink/allegro/bimanual/unplug/{0/task_info.json → task_info.json}
RENAMED
|
File without changes
|
processed/oakink/allegro/bimanual/wipe_board/0/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4c4a0eaf8001c4159d17e16d8b85746973d89196aa93f8d1173c8e6fcac584e9
|
| 3 |
+
size 908098
|
processed/oakink/allegro/bimanual/wipe_board/0/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e9128827d31c6c2ac06e803e2397abb6c0d866a772b9c9d517c61883dffb05ca
|
| 3 |
+
size 611095
|
processed/oakink/mano/bimanual/unplug/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 sha256:669688b66d974b920aa6ab7d9329ff512b35a1bcf59ea3d81b0a878ebe4dfe47
|
| 3 |
+
size 344160
|
processed/oakink/mano/bimanual/unplug/{0/task_info.json → task_info.json}
RENAMED
|
File without changes
|