jc-bao
commited on
Commit
·
ba730fd
1
Parent(s):
032557e
:tada: add FAIR FRE examples
Browse files- processed/fair_fre/mano/bimanual/pour/0/trajectory_kinematic.npz +3 -0
- processed/fair_fre/mano/bimanual/pour/task_info.json +11 -0
- processed/fair_fre/mano/right/scoopspoon/2/trajectory_kinematic.npz +2 -2
- processed/fair_fre/mano/right/scoopspoon/task_info.json +0 -1
- processed/fair_fre/metahand/bimanual/pour/0/trajectory_kinematic.npz +3 -0
- processed/fair_fre/metahand/bimanual/pour/0/trajectory_mjwp.npz +3 -0
- processed/fair_fre/metahand/bimanual/pour/0/visualization_mjwp.mp4 +3 -0
- processed/fair_fre/metahand/bimanual/pour/scene.xml +886 -0
- processed/fair_fre/metahand/bimanual/pour/scene_eq.xml +905 -0
- processed/fair_fre/metahand/bimanual/pour/task_info.json +11 -0
- processed/fair_fre/metahand/right/scoopspoon/2/trajectory_kinematic.npz +1 -1
- processed/fair_fre/metahand/right/scoopspoon/2/trajectory_mjwp.npz +2 -2
- processed/fair_fre/metahand/right/scoopspoon/2/visualization_mjwp.mp4 +2 -2
- processed/fair_fre/metahand/right/scoopspoon/scene.xml +13 -13
- processed/fair_fre/metahand/right/scoopspoon/scene_eq.xml +13 -13
- processed/fair_fre/metahand/right/scoopspoon/task_info.json +2 -1
- processed/fair_mon/metahand/right/cat/0/trajectory_mjwp.npz +2 -2
- processed/fair_mon/metahand/right/cat/0/visualization_mjwp.mp4 +2 -2
- processed/fair_mon/metahand/right/coke/0/trajectory_mjwp.npz +2 -2
- processed/fair_mon/metahand/right/coke/0/visualization_mjwp.mp4 +2 -2
processed/fair_fre/mano/bimanual/pour/0/trajectory_kinematic.npz
ADDED
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@@ -0,0 +1,3 @@
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+
version https://git-lfs.github.com/spec/v1
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+
oid sha256:575dbd127a37fa6c225f4a6d982b768a9001f747366ce56e0b911f054c3d40e0
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+
size 197280
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processed/fair_fre/mano/bimanual/pour/task_info.json
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@@ -0,0 +1,11 @@
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{
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"task": "pour",
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"dataset_name": "fair_fre",
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"robot_type": "mano",
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"hand_type": "bimanual",
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"data_id": 0,
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"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
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"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex",
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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processed/fair_fre/mano/right/scoopspoon/2/trajectory_kinematic.npz
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@@ -1,3 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:
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-
size
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version https://git-lfs.github.com/spec/v1
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oid sha256:d362b696f5882684015820ee6973c6f497fd856fcfbd68de7ba8e582ddcebbee
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size 254044
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processed/fair_fre/mano/right/scoopspoon/task_info.json
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"hand_type": "right",
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"data_id": 2,
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"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon",
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-
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon/convex",
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"left_object_mesh_dir": null
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}
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"hand_type": "right",
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"data_id": 2,
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"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/metahand/bimanual/pour/0/trajectory_kinematic.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:f3aad27f742339460de7dc45b33a1d40bb74d1dc772cac38e525729b957f8f85
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+
size 320236
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processed/fair_fre/metahand/bimanual/pour/0/trajectory_mjwp.npz
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version https://git-lfs.github.com/spec/v1
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oid sha256:f18a586285be59aa4868f53919709b07abb2e3531f8eff929818b688d069dd2a
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size 1184338
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processed/fair_fre/metahand/bimanual/pour/0/visualization_mjwp.mp4
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version https://git-lfs.github.com/spec/v1
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oid sha256:cb1541db070c2e5eaa3e080ca932aaf0ffc8490925cdeac352fb46ba787e9c87
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size 1196781
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processed/fair_fre/metahand/bimanual/pour/scene.xml
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@@ -0,0 +1,886 @@
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|
|
|
| 1 |
+
<mujoco model="bimanual">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
+
|
| 4 |
+
<option timestep="0.01" iterations="10">
|
| 5 |
+
<flag eulerdamp="disable"/>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<visual>
|
| 9 |
+
<global azimuth="140" elevation="-20"/>
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 12 |
+
</visual>
|
| 13 |
+
|
| 14 |
+
<default>
|
| 15 |
+
<default class="mimic_right">
|
| 16 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 17 |
+
</default>
|
| 18 |
+
<default class="metahand_right">
|
| 19 |
+
<joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2" frictionloss="0.02"/>
|
| 20 |
+
<geom density="800"/>
|
| 21 |
+
<general biastype="affine" gainprm="3" biasprm="0 -3"/>
|
| 22 |
+
<default class="right_visual">
|
| 23 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
|
| 24 |
+
<default class="right_palm_visual">
|
| 25 |
+
<geom mesh="right_base_link"/>
|
| 26 |
+
</default>
|
| 27 |
+
<default class="right_base_visual">
|
| 28 |
+
<geom mesh="right_link_0.0"/>
|
| 29 |
+
</default>
|
| 30 |
+
<default class="right_proximal_visual">
|
| 31 |
+
<geom mesh="right_link_1.0"/>
|
| 32 |
+
</default>
|
| 33 |
+
<default class="right_medial_visual">
|
| 34 |
+
<geom mesh="right_link_2.0"/>
|
| 35 |
+
</default>
|
| 36 |
+
<default class="right_distal_visual">
|
| 37 |
+
<geom mesh="right_link_3.0"/>
|
| 38 |
+
</default>
|
| 39 |
+
<default class="right_fingertip_visual">
|
| 40 |
+
<geom material="right_white" mesh="right_link_3.0_tip"/>
|
| 41 |
+
</default>
|
| 42 |
+
<default class="right_thumbtip_visual">
|
| 43 |
+
<geom material="right_white" mesh="right_link_15.0_tip"/>
|
| 44 |
+
</default>
|
| 45 |
+
</default>
|
| 46 |
+
<default class="right_collision">
|
| 47 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 48 |
+
<default class="right_palm_collision">
|
| 49 |
+
<geom size="0.0204 0.0565 0.0475"/>
|
| 50 |
+
</default>
|
| 51 |
+
<default class="right_base_collision">
|
| 52 |
+
<geom size="0.0098 0.01375 0.0082"/>
|
| 53 |
+
<default class="right_thumb_base_collision">
|
| 54 |
+
<geom size="0.0179 0.017 0.02275"/>
|
| 55 |
+
</default>
|
| 56 |
+
</default>
|
| 57 |
+
<default class="right_proximal_collision">
|
| 58 |
+
<geom size="0.0098 0.01375 0.027"/>
|
| 59 |
+
<default class="right_thumb_proximal_collision">
|
| 60 |
+
<geom size="0.0098 0.01375 0.00885"/>
|
| 61 |
+
</default>
|
| 62 |
+
</default>
|
| 63 |
+
<default class="right_medial_collision">
|
| 64 |
+
<geom size="0.0098 0.01375 0.0192"/>
|
| 65 |
+
<default class="right_thumb_medial_collision">
|
| 66 |
+
<geom size="0.0098 0.01375 0.0257"/>
|
| 67 |
+
</default>
|
| 68 |
+
</default>
|
| 69 |
+
<default class="right_distal_collision">
|
| 70 |
+
<geom size="0.0098 0.01375 0.008"/>
|
| 71 |
+
<default class="right_thumb_distal_collision">
|
| 72 |
+
<geom size="0.0098 0.01375 0.0157"/>
|
| 73 |
+
</default>
|
| 74 |
+
</default>
|
| 75 |
+
<default class="right_fingertip_collision">
|
| 76 |
+
<geom size="0.01235 0 0" type="capsule"/>
|
| 77 |
+
<default class="right_thumbtip_collision"/>
|
| 78 |
+
</default>
|
| 79 |
+
</default>
|
| 80 |
+
<default class="right_base_slide">
|
| 81 |
+
<joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 82 |
+
<general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
|
| 83 |
+
</default>
|
| 84 |
+
<default class="right_base_hinge">
|
| 85 |
+
<joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 86 |
+
<general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
|
| 87 |
+
</default>
|
| 88 |
+
<default class="right_base">
|
| 89 |
+
<joint range="-0.47 0.47"/>
|
| 90 |
+
<general ctrlrange="-0.47 0.47"/>
|
| 91 |
+
</default>
|
| 92 |
+
<default class="right_proximal">
|
| 93 |
+
<joint range="0.196 1.61"/>
|
| 94 |
+
<general ctrlrange="0.196 1.61"/>
|
| 95 |
+
</default>
|
| 96 |
+
<default class="right_medial">
|
| 97 |
+
<joint range="0.174 1.709"/>
|
| 98 |
+
<general ctrlrange="0.174 1.709"/>
|
| 99 |
+
</default>
|
| 100 |
+
<default class="right_distal">
|
| 101 |
+
<joint range="0.227 1.618"/>
|
| 102 |
+
<general ctrlrange="0.227 1.618"/>
|
| 103 |
+
</default>
|
| 104 |
+
<default class="right_thumb_base">
|
| 105 |
+
<joint range="0.263 1.396"/>
|
| 106 |
+
<general ctrlrange="0.263 1.396"/>
|
| 107 |
+
</default>
|
| 108 |
+
<default class="right_thumb_proximal">
|
| 109 |
+
<joint range="0.105 1.163"/>
|
| 110 |
+
<general ctrlrange="0.105 1.163"/>
|
| 111 |
+
</default>
|
| 112 |
+
<default class="right_thumb_medial">
|
| 113 |
+
<joint range="0.189 1.644"/>
|
| 114 |
+
<general ctrlrange="0.189 1.644"/>
|
| 115 |
+
</default>
|
| 116 |
+
<default class="right_thumb_distal">
|
| 117 |
+
<joint range="0.162 1.719"/>
|
| 118 |
+
<general ctrlrange="0.162 1.719"/>
|
| 119 |
+
</default>
|
| 120 |
+
</default>
|
| 121 |
+
<default class="mimic_left">
|
| 122 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 123 |
+
</default>
|
| 124 |
+
<default class="metahand_left">
|
| 125 |
+
<joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2" frictionloss="0.02"/>
|
| 126 |
+
<geom density="800"/>
|
| 127 |
+
<general biastype="affine" gainprm="3" biasprm="0 -3"/>
|
| 128 |
+
<default class="left_visual">
|
| 129 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black"/>
|
| 130 |
+
<default class="left_palm_visual">
|
| 131 |
+
<geom mesh="left_base_link"/>
|
| 132 |
+
</default>
|
| 133 |
+
<default class="left_base_visual">
|
| 134 |
+
<geom mesh="left_link_0.0"/>
|
| 135 |
+
</default>
|
| 136 |
+
<default class="left_proximal_visual">
|
| 137 |
+
<geom mesh="left_link_1.0"/>
|
| 138 |
+
</default>
|
| 139 |
+
<default class="left_medial_visual">
|
| 140 |
+
<geom mesh="left_link_2.0"/>
|
| 141 |
+
</default>
|
| 142 |
+
<default class="left_distal_visual">
|
| 143 |
+
<geom mesh="left_link_3.0"/>
|
| 144 |
+
</default>
|
| 145 |
+
<default class="left_fingertip_visual">
|
| 146 |
+
<geom material="left_white" mesh="left_link_3.0_tip"/>
|
| 147 |
+
</default>
|
| 148 |
+
<default class="left_thumbtip_visual">
|
| 149 |
+
<geom material="left_white" mesh="left_link_15.0_tip"/>
|
| 150 |
+
</default>
|
| 151 |
+
</default>
|
| 152 |
+
<default class="left_collision">
|
| 153 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 154 |
+
<default class="left_palm_collision">
|
| 155 |
+
<geom size="0.0204 0.0565 0.0475"/>
|
| 156 |
+
</default>
|
| 157 |
+
<default class="left_base_collision">
|
| 158 |
+
<geom size="0.0098 0.01375 0.0082"/>
|
| 159 |
+
<default class="left_thumb_base_collision">
|
| 160 |
+
<geom size="0.0179 0.017 0.02275"/>
|
| 161 |
+
</default>
|
| 162 |
+
</default>
|
| 163 |
+
<default class="left_proximal_collision">
|
| 164 |
+
<geom size="0.0098 0.01375 0.027"/>
|
| 165 |
+
<default class="left_thumb_proximal_collision">
|
| 166 |
+
<geom size="0.0098 0.01375 0.00885"/>
|
| 167 |
+
</default>
|
| 168 |
+
</default>
|
| 169 |
+
<default class="left_medial_collision">
|
| 170 |
+
<geom size="0.0098 0.01375 0.0192"/>
|
| 171 |
+
<default class="left_thumb_medial_collision">
|
| 172 |
+
<geom size="0.0098 0.01375 0.0257"/>
|
| 173 |
+
</default>
|
| 174 |
+
</default>
|
| 175 |
+
<default class="left_distal_collision">
|
| 176 |
+
<geom size="0.0098 0.01375 0.008"/>
|
| 177 |
+
<default class="left_thumb_distal_collision">
|
| 178 |
+
<geom size="0.0098 0.01375 0.0157"/>
|
| 179 |
+
</default>
|
| 180 |
+
</default>
|
| 181 |
+
<default class="left_fingertip_collision">
|
| 182 |
+
<geom size="0.01235 0 0" type="capsule"/>
|
| 183 |
+
<default class="left_thumbtip_collision"/>
|
| 184 |
+
</default>
|
| 185 |
+
</default>
|
| 186 |
+
<default class="left_base_slide">
|
| 187 |
+
<joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 188 |
+
<general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
|
| 189 |
+
</default>
|
| 190 |
+
<default class="left_base_hinge">
|
| 191 |
+
<joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 192 |
+
<general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
|
| 193 |
+
</default>
|
| 194 |
+
<default class="left_base">
|
| 195 |
+
<joint range="-0.47 0.47"/>
|
| 196 |
+
<general ctrlrange="-0.47 0.47"/>
|
| 197 |
+
</default>
|
| 198 |
+
<default class="left_proximal">
|
| 199 |
+
<joint range="0.196 1.61"/>
|
| 200 |
+
<general ctrlrange="0.196 1.61"/>
|
| 201 |
+
</default>
|
| 202 |
+
<default class="left_medial">
|
| 203 |
+
<joint range="0.174 1.709"/>
|
| 204 |
+
<general ctrlrange="0.174 1.709"/>
|
| 205 |
+
</default>
|
| 206 |
+
<default class="left_distal">
|
| 207 |
+
<joint range="0.227 1.618"/>
|
| 208 |
+
<general ctrlrange="0.227 1.618"/>
|
| 209 |
+
</default>
|
| 210 |
+
<default class="left_thumb_base">
|
| 211 |
+
<joint range="0.263 1.396"/>
|
| 212 |
+
<general ctrlrange="0.263 1.396"/>
|
| 213 |
+
</default>
|
| 214 |
+
<default class="left_thumb_proximal">
|
| 215 |
+
<joint range="0.105 1.163"/>
|
| 216 |
+
<general ctrlrange="0.105 1.163"/>
|
| 217 |
+
</default>
|
| 218 |
+
<default class="left_thumb_medial">
|
| 219 |
+
<joint range="0.189 1.644"/>
|
| 220 |
+
<general ctrlrange="0.189 1.644"/>
|
| 221 |
+
</default>
|
| 222 |
+
<default class="left_thumb_distal">
|
| 223 |
+
<joint range="0.162 1.719"/>
|
| 224 |
+
<general ctrlrange="0.162 1.719"/>
|
| 225 |
+
</default>
|
| 226 |
+
</default>
|
| 227 |
+
</default>
|
| 228 |
+
|
| 229 |
+
<asset>
|
| 230 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 231 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 232 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 233 |
+
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 234 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 235 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
|
| 236 |
+
<material name="right_black" rgba="0.2 0.2 0.2 1"/>
|
| 237 |
+
<material name="right_white" rgba="0.9 0.9 0.9 1"/>
|
| 238 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 239 |
+
<material name="left_black" rgba="0.2 0.2 0.2 1"/>
|
| 240 |
+
<material name="left_white" rgba="0.9 0.9 0.9 1"/>
|
| 241 |
+
<material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 242 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 243 |
+
<mesh name="right_base_link" file="robots/metahand/assets/base_link.stl"/>
|
| 244 |
+
<mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl"/>
|
| 245 |
+
<mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl"/>
|
| 246 |
+
<mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl"/>
|
| 247 |
+
<mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl"/>
|
| 248 |
+
<mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl"/>
|
| 249 |
+
<mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl"/>
|
| 250 |
+
<mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl"/>
|
| 251 |
+
<mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl"/>
|
| 252 |
+
<mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl"/>
|
| 253 |
+
<mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl"/>
|
| 254 |
+
<mesh name="left_base_link" file="robots/metahand/assets/base_link_left.stl"/>
|
| 255 |
+
<mesh name="left_link_0.0" file="robots/metahand/assets/link_0.0.stl"/>
|
| 256 |
+
<mesh name="left_link_1.0" file="robots/metahand/assets/link_1.0.stl"/>
|
| 257 |
+
<mesh name="left_link_2.0" file="robots/metahand/assets/link_2.0.stl"/>
|
| 258 |
+
<mesh name="left_link_3.0" file="robots/metahand/assets/link_3.0.stl"/>
|
| 259 |
+
<mesh name="left_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl"/>
|
| 260 |
+
<mesh name="left_link_12.0_left" file="robots/metahand/assets/link_12.0_left.stl"/>
|
| 261 |
+
<mesh name="left_link_13.0" file="robots/metahand/assets/link_13.0.stl"/>
|
| 262 |
+
<mesh name="left_link_14.0" file="robots/metahand/assets/link_14.0.stl"/>
|
| 263 |
+
<mesh name="left_link_15.0" file="robots/metahand/assets/link_15.0.stl"/>
|
| 264 |
+
<mesh name="left_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl"/>
|
| 265 |
+
<mesh name="right_0" file="objects/cup/convex/0.obj"/>
|
| 266 |
+
<mesh name="right_1" file="objects/cup/convex/1.obj"/>
|
| 267 |
+
<mesh name="right_2" file="objects/cup/convex/2.obj"/>
|
| 268 |
+
<mesh name="right_3" file="objects/cup/convex/3.obj"/>
|
| 269 |
+
<mesh name="right_4" file="objects/cup/convex/4.obj"/>
|
| 270 |
+
<mesh name="right_5" file="objects/cup/convex/5.obj"/>
|
| 271 |
+
<mesh name="right_6" file="objects/cup/convex/6.obj"/>
|
| 272 |
+
<mesh name="right_7" file="objects/cup/convex/7.obj"/>
|
| 273 |
+
<mesh name="right_visual" file="objects/cup/visual.obj"/>
|
| 274 |
+
</asset>
|
| 275 |
+
|
| 276 |
+
<worldbody>
|
| 277 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 278 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
|
| 279 |
+
<light pos="0 0 3.5" dir="0 0 -1"/>
|
| 280 |
+
<light pos="0 0 3.5" dir="0 0 -1"/>
|
| 281 |
+
<body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
|
| 282 |
+
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 283 |
+
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 284 |
+
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 285 |
+
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 286 |
+
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 287 |
+
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 288 |
+
<geom class="right_palm_visual" mesh="right_base_link"/>
|
| 289 |
+
<geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
|
| 290 |
+
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 291 |
+
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 292 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 293 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 294 |
+
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 295 |
+
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 296 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 297 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 298 |
+
<geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 299 |
+
<body name="right_ff_medial" pos="0 0 0.054">
|
| 300 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 301 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 302 |
+
<geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 303 |
+
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 304 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 305 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 306 |
+
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 307 |
+
<body name="right_ff_tip">
|
| 308 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
|
| 309 |
+
<geom name="right_index_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 310 |
+
<site name="right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 311 |
+
<site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 312 |
+
<site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 313 |
+
</body>
|
| 314 |
+
</body>
|
| 315 |
+
</body>
|
| 316 |
+
</body>
|
| 317 |
+
</body>
|
| 318 |
+
<body name="right_mf_base" pos="0 0 0.0007">
|
| 319 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 320 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 321 |
+
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 322 |
+
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 323 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 324 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 325 |
+
<geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 326 |
+
<body name="right_mf_medial" pos="0 0 0.054">
|
| 327 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 328 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 329 |
+
<geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 330 |
+
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 331 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 332 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 333 |
+
<geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 334 |
+
<body name="right_mf_tip">
|
| 335 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
|
| 336 |
+
<geom name="right_middle_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 337 |
+
<site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 338 |
+
<site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 339 |
+
<site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 340 |
+
</body>
|
| 341 |
+
</body>
|
| 342 |
+
</body>
|
| 343 |
+
</body>
|
| 344 |
+
</body>
|
| 345 |
+
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 346 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 347 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 348 |
+
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 349 |
+
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 350 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 351 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 352 |
+
<geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 353 |
+
<body name="right_rf_medial" pos="0 0 0.054">
|
| 354 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 355 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 356 |
+
<geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 357 |
+
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 358 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 359 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 360 |
+
<geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 361 |
+
<body name="right_rf_tip">
|
| 362 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
|
| 363 |
+
<geom name="right_ring_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 364 |
+
<site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 365 |
+
<site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 366 |
+
<site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 367 |
+
</body>
|
| 368 |
+
</body>
|
| 369 |
+
</body>
|
| 370 |
+
</body>
|
| 371 |
+
</body>
|
| 372 |
+
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 373 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
|
| 374 |
+
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 375 |
+
<geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 376 |
+
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 377 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 378 |
+
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 379 |
+
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 380 |
+
<body name="right_th_medial" pos="0 0 0.0177">
|
| 381 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 382 |
+
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 383 |
+
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 384 |
+
<body name="right_th_distal" pos="0 0 0.0514">
|
| 385 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 386 |
+
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 387 |
+
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 388 |
+
<body name="right_th_tip">
|
| 389 |
+
<geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip"/>
|
| 390 |
+
<geom name="right_thumb_collision" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
|
| 391 |
+
<site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
|
| 392 |
+
<site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
|
| 393 |
+
<site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
|
| 394 |
+
</body>
|
| 395 |
+
</body>
|
| 396 |
+
</body>
|
| 397 |
+
</body>
|
| 398 |
+
</body>
|
| 399 |
+
</body>
|
| 400 |
+
<body name="left_palm" childclass="metahand_left" quat="0 0 0.707107 -0.707107" gravcomp="1">
|
| 401 |
+
<joint name="left_pos_x" class="left_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 402 |
+
<joint name="left_pos_y" class="left_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 403 |
+
<joint name="left_pos_z" class="left_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 404 |
+
<joint name="left_rot_x" class="left_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 405 |
+
<joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 406 |
+
<joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 407 |
+
<geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
|
| 408 |
+
<geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
|
| 409 |
+
<site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 410 |
+
<camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 411 |
+
<body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 412 |
+
<joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 413 |
+
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 414 |
+
<geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 415 |
+
<body name="left_rf_proximal" pos="0 0 0.0164">
|
| 416 |
+
<joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 417 |
+
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 418 |
+
<geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 419 |
+
<body name="left_rf_medial" pos="0 0 0.054">
|
| 420 |
+
<joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 421 |
+
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 422 |
+
<geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 423 |
+
<body name="left_rf_distal" pos="0 0 0.0384">
|
| 424 |
+
<joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 425 |
+
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 426 |
+
<geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 427 |
+
<body name="left_rf_tip">
|
| 428 |
+
<geom class="left_fingertip_visual" pos="0 0 0.0515" mesh="left_link_3.0_tip"/>
|
| 429 |
+
<geom name="left_ring_collision" class="left_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 430 |
+
<site name="left_ring_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 431 |
+
<site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 432 |
+
<site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 433 |
+
</body>
|
| 434 |
+
</body>
|
| 435 |
+
</body>
|
| 436 |
+
</body>
|
| 437 |
+
</body>
|
| 438 |
+
<body name="left_mf_base" pos="0 0 0.0007">
|
| 439 |
+
<joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 440 |
+
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 441 |
+
<geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 442 |
+
<body name="left_mf_proximal" pos="0 0 0.0164">
|
| 443 |
+
<joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 444 |
+
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 445 |
+
<geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 446 |
+
<body name="left_mf_medial" pos="0 0 0.054">
|
| 447 |
+
<joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 448 |
+
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 449 |
+
<geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 450 |
+
<body name="left_mf_distal" pos="0 0 0.0384">
|
| 451 |
+
<joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 452 |
+
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 453 |
+
<geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 454 |
+
<body name="left_mf_tip">
|
| 455 |
+
<geom class="left_fingertip_visual" pos="0 0 0.0515" mesh="left_link_3.0_tip"/>
|
| 456 |
+
<geom name="left_middle_collision" class="left_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 457 |
+
<site name="left_middle_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 458 |
+
<site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 459 |
+
<site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 460 |
+
</body>
|
| 461 |
+
</body>
|
| 462 |
+
</body>
|
| 463 |
+
</body>
|
| 464 |
+
</body>
|
| 465 |
+
<body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 466 |
+
<joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 467 |
+
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 468 |
+
<geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 469 |
+
<body name="left_ff_proximal" pos="0 0 0.0164">
|
| 470 |
+
<joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 471 |
+
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 472 |
+
<geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 473 |
+
<body name="left_ff_medial" pos="0 0 0.054">
|
| 474 |
+
<joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 475 |
+
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 476 |
+
<geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 477 |
+
<body name="left_ff_distal" pos="0 0 0.0384">
|
| 478 |
+
<joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 479 |
+
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 480 |
+
<geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 481 |
+
<body name="left_ff_tip">
|
| 482 |
+
<geom class="left_fingertip_visual" pos="0 0 0.0515" mesh="left_link_3.0_tip"/>
|
| 483 |
+
<geom name="left_index_collision" class="left_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 484 |
+
<site name="left_index_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 485 |
+
<site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 486 |
+
<site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 487 |
+
</body>
|
| 488 |
+
</body>
|
| 489 |
+
</body>
|
| 490 |
+
</body>
|
| 491 |
+
</body>
|
| 492 |
+
<body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
|
| 493 |
+
<joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
|
| 494 |
+
<geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
|
| 495 |
+
<geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 496 |
+
<body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
|
| 497 |
+
<joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 498 |
+
<geom class="left_visual" mesh="left_link_13.0"/>
|
| 499 |
+
<geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 500 |
+
<body name="left_th_medial" pos="0 0 0.0177">
|
| 501 |
+
<joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 502 |
+
<geom class="left_visual" mesh="left_link_14.0"/>
|
| 503 |
+
<geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 504 |
+
<body name="left_th_distal" pos="0 0 0.0514">
|
| 505 |
+
<joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 506 |
+
<geom class="left_visual" mesh="left_link_15.0"/>
|
| 507 |
+
<geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 508 |
+
<body name="left_th_tip">
|
| 509 |
+
<geom class="left_thumbtip_visual" pos="0 0 0.0671" mesh="left_link_15.0_tip"/>
|
| 510 |
+
<geom name="left_thumb_collision" class="left_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
|
| 511 |
+
<site name="left_thumb_tip" class="mimic_left" pos="0 0 0.0671"/>
|
| 512 |
+
<site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.0671"/>
|
| 513 |
+
<site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.0671"/>
|
| 514 |
+
</body>
|
| 515 |
+
</body>
|
| 516 |
+
</body>
|
| 517 |
+
</body>
|
| 518 |
+
</body>
|
| 519 |
+
</body>
|
| 520 |
+
<body name="right_object">
|
| 521 |
+
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 522 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 523 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 524 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 525 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 526 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 527 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 528 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 529 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 530 |
+
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 531 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 532 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 533 |
+
<site name="track_object_right_thumb_tip" pos="-0.0232345 0.0403619 0.024903" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 534 |
+
<site name="track_object_right_index_tip" pos="0.0114724 0.046918 -0.0185817" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 535 |
+
<site name="track_object_right_middle_tip" pos="0.0114395 0.0334294 -0.0246829" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 536 |
+
<site name="track_object_right_ring_tip" pos="0.015314 0.0146321 -0.0196279" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 537 |
+
<site name="track_object_left_thumb_tip" pos="-0.0353105 0.00880481 -0.0106247" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 538 |
+
<site name="track_object_left_index_tip" pos="0.0369431 0.0184801 -0.0240982" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 539 |
+
<site name="track_object_left_middle_tip" pos="0.0384532 -0.00714914 -0.0177101" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 540 |
+
<site name="track_object_left_ring_tip" pos="0.0372887 -0.0142294 -0.0241416" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 541 |
+
</body>
|
| 542 |
+
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 543 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 544 |
+
</body>
|
| 545 |
+
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 546 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 547 |
+
</body>
|
| 548 |
+
<body name="ref_object_right_index_tip" mocap="true">
|
| 549 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 550 |
+
</body>
|
| 551 |
+
<body name="ref_hand_right_index_tip" mocap="true">
|
| 552 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 553 |
+
</body>
|
| 554 |
+
<body name="ref_object_right_middle_tip" mocap="true">
|
| 555 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 556 |
+
</body>
|
| 557 |
+
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 558 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 559 |
+
</body>
|
| 560 |
+
<body name="ref_object_right_ring_tip" mocap="true">
|
| 561 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 562 |
+
</body>
|
| 563 |
+
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 564 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 565 |
+
</body>
|
| 566 |
+
<body name="left_object" gravcomp="1">
|
| 567 |
+
<joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="1" frictionloss="1"/>
|
| 568 |
+
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 569 |
+
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 570 |
+
<site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 571 |
+
</body>
|
| 572 |
+
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 573 |
+
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 574 |
+
</body>
|
| 575 |
+
<body name="ref_hand_left_thumb_tip" mocap="true">
|
| 576 |
+
<site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 577 |
+
</body>
|
| 578 |
+
<body name="ref_object_left_index_tip" mocap="true">
|
| 579 |
+
<site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 580 |
+
</body>
|
| 581 |
+
<body name="ref_hand_left_index_tip" mocap="true">
|
| 582 |
+
<site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 583 |
+
</body>
|
| 584 |
+
<body name="ref_object_left_middle_tip" mocap="true">
|
| 585 |
+
<site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 586 |
+
</body>
|
| 587 |
+
<body name="ref_hand_left_middle_tip" mocap="true">
|
| 588 |
+
<site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 589 |
+
</body>
|
| 590 |
+
<body name="ref_object_left_ring_tip" mocap="true">
|
| 591 |
+
<site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 592 |
+
</body>
|
| 593 |
+
<body name="ref_hand_left_ring_tip" mocap="true">
|
| 594 |
+
<site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 595 |
+
</body>
|
| 596 |
+
</worldbody>
|
| 597 |
+
|
| 598 |
+
<contact>
|
| 599 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 600 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 601 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 602 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 603 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 604 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 605 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 606 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 607 |
+
<pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 608 |
+
<pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 609 |
+
<pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 610 |
+
<pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 611 |
+
<pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 612 |
+
<pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 613 |
+
<pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 614 |
+
<pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 615 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 616 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 617 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 618 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 619 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 620 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 621 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 622 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 623 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 624 |
+
<pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 625 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 626 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 627 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 628 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 629 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 630 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 631 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 632 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 633 |
+
<pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 634 |
+
<pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 635 |
+
<pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 636 |
+
<pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 637 |
+
<pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 638 |
+
<pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 639 |
+
<pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 640 |
+
<pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 641 |
+
<pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 642 |
+
<pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 643 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 644 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 645 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 646 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 647 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 648 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 649 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 650 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 651 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 652 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 653 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 654 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 655 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 656 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 657 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 658 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 659 |
+
<pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 660 |
+
<pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 661 |
+
<pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 662 |
+
<pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 663 |
+
<pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 664 |
+
<pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 665 |
+
<pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 666 |
+
<pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 667 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 668 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 669 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 670 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 671 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 672 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 673 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_6" name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 674 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_7" name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 675 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_0" name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 676 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_1" name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 677 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_2" name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 678 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_3" name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 679 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_4" name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 680 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_5" name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 681 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_6" name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 682 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_7" name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 683 |
+
<pair geom1="right_ring_collision" geom2="right_object_0" name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 684 |
+
<pair geom1="right_ring_collision" geom2="right_object_1" name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 685 |
+
<pair geom1="right_ring_collision" geom2="right_object_2" name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 686 |
+
<pair geom1="right_ring_collision" geom2="right_object_3" name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 687 |
+
<pair geom1="right_ring_collision" geom2="right_object_4" name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 688 |
+
<pair geom1="right_ring_collision" geom2="right_object_5" name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 689 |
+
<pair geom1="right_ring_collision" geom2="right_object_6" name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 690 |
+
<pair geom1="right_ring_collision" geom2="right_object_7" name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 691 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_0" name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 692 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_1" name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 693 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_2" name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 694 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_3" name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 695 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_4" name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 696 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_5" name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 697 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_6" name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 698 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_7" name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 699 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_0" name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 700 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_1" name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 701 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_2" name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 702 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_3" name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 703 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_4" name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 704 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_5" name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 705 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_6" name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 706 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_7" name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 707 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_0" name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 708 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_1" name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 709 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_2" name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 710 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_3" name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 711 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_4" name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 712 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_5" name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 713 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_6" name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 714 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_7" name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 715 |
+
<pair geom1="right_thumb_collision" geom2="left_thumb_collision" name="left_thumb_collision_right_thumb_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 716 |
+
<pair geom1="right_thumb_collision" geom2="right_object_0" name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 717 |
+
<pair geom1="right_thumb_collision" geom2="right_object_1" name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 718 |
+
<pair geom1="right_thumb_collision" geom2="right_object_2" name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 719 |
+
<pair geom1="right_thumb_collision" geom2="right_object_3" name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 720 |
+
<pair geom1="right_thumb_collision" geom2="right_object_4" name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 721 |
+
<pair geom1="right_thumb_collision" geom2="right_object_5" name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 722 |
+
<pair geom1="right_thumb_collision" geom2="right_object_6" name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 723 |
+
<pair geom1="right_thumb_collision" geom2="right_object_7" name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 724 |
+
<pair geom1="left_palm_collision" geom2="right_object_0" name="left_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 725 |
+
<pair geom1="left_palm_collision" geom2="right_object_1" name="left_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 726 |
+
<pair geom1="left_palm_collision" geom2="right_object_2" name="left_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 727 |
+
<pair geom1="left_palm_collision" geom2="right_object_3" name="left_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 728 |
+
<pair geom1="left_palm_collision" geom2="right_object_4" name="left_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 729 |
+
<pair geom1="left_palm_collision" geom2="right_object_5" name="left_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 730 |
+
<pair geom1="left_palm_collision" geom2="right_object_6" name="left_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 731 |
+
<pair geom1="left_palm_collision" geom2="right_object_7" name="left_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 732 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_0" name="left_ring_base_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 733 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_1" name="left_ring_base_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 734 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_2" name="left_ring_base_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 735 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_3" name="left_ring_base_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 736 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_4" name="left_ring_base_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 737 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_5" name="left_ring_base_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 738 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_6" name="left_ring_base_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 739 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_7" name="left_ring_base_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 740 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_0" name="left_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 741 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_1" name="left_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 742 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_2" name="left_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 743 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_3" name="left_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 744 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_4" name="left_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 745 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_5" name="left_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 746 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_6" name="left_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 747 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_7" name="left_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 748 |
+
<pair geom1="left_ring_collision" geom2="right_object_0" name="left_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 749 |
+
<pair geom1="left_ring_collision" geom2="right_object_1" name="left_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 750 |
+
<pair geom1="left_ring_collision" geom2="right_object_2" name="left_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 751 |
+
<pair geom1="left_ring_collision" geom2="right_object_3" name="left_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 752 |
+
<pair geom1="left_ring_collision" geom2="right_object_4" name="left_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 753 |
+
<pair geom1="left_ring_collision" geom2="right_object_5" name="left_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 754 |
+
<pair geom1="left_ring_collision" geom2="right_object_6" name="left_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 755 |
+
<pair geom1="left_ring_collision" geom2="right_object_7" name="left_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 756 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_0" name="left_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 757 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_1" name="left_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 758 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_2" name="left_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 759 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_3" name="left_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 760 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_4" name="left_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 761 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_5" name="left_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 762 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_6" name="left_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 763 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_7" name="left_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 764 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_0" name="left_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 765 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_1" name="left_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 766 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_2" name="left_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 767 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_3" name="left_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 768 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_4" name="left_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 769 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_5" name="left_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 770 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_6" name="left_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 771 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_7" name="left_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 772 |
+
<pair geom1="left_middle_collision" geom2="right_object_0" name="left_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 773 |
+
<pair geom1="left_middle_collision" geom2="right_object_1" name="left_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 774 |
+
<pair geom1="left_middle_collision" geom2="right_object_2" name="left_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 775 |
+
<pair geom1="left_middle_collision" geom2="right_object_3" name="left_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 776 |
+
<pair geom1="left_middle_collision" geom2="right_object_4" name="left_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 777 |
+
<pair geom1="left_middle_collision" geom2="right_object_5" name="left_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 778 |
+
<pair geom1="left_middle_collision" geom2="right_object_6" name="left_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 779 |
+
<pair geom1="left_middle_collision" geom2="right_object_7" name="left_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 780 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_0" name="left_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 781 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_1" name="left_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 782 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_2" name="left_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 783 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_3" name="left_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 784 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_4" name="left_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 785 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_5" name="left_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 786 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_6" name="left_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 787 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_7" name="left_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 788 |
+
<pair geom1="left_index_intermediate_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 789 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_0" name="left_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 790 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_1" name="left_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 791 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_2" name="left_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 792 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_3" name="left_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 793 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_4" name="left_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 794 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_5" name="left_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 795 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_6" name="left_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 796 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_7" name="left_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 797 |
+
<pair geom1="left_index_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 798 |
+
<pair geom1="left_index_collision" geom2="right_object_0" name="left_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 799 |
+
<pair geom1="left_index_collision" geom2="right_object_1" name="left_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 800 |
+
<pair geom1="left_index_collision" geom2="right_object_2" name="left_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 801 |
+
<pair geom1="left_index_collision" geom2="right_object_3" name="left_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 802 |
+
<pair geom1="left_index_collision" geom2="right_object_4" name="left_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 803 |
+
<pair geom1="left_index_collision" geom2="right_object_5" name="left_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 804 |
+
<pair geom1="left_index_collision" geom2="right_object_6" name="left_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 805 |
+
<pair geom1="left_index_collision" geom2="right_object_7" name="left_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 806 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 807 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_1" name="left_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 808 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_2" name="left_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 809 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_3" name="left_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 810 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_4" name="left_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 811 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_5" name="left_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 812 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_6" name="left_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 813 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_7" name="left_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 814 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_0" name="left_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 815 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_1" name="left_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 816 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_2" name="left_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 817 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_3" name="left_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 818 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 819 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_5" name="left_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 820 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_6" name="left_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 821 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_7" name="left_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 822 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 823 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 824 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 825 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 826 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 827 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 828 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 829 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 830 |
+
<pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 831 |
+
<pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 832 |
+
<pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 833 |
+
<pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 834 |
+
<pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 835 |
+
<pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 836 |
+
<pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 837 |
+
<pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 838 |
+
</contact>
|
| 839 |
+
|
| 840 |
+
<actuator>
|
| 841 |
+
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
|
| 842 |
+
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
|
| 843 |
+
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
|
| 844 |
+
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 845 |
+
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 846 |
+
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 847 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 848 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 849 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 850 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 851 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 852 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 853 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 854 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 855 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 856 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 857 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 858 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 859 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 860 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 861 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 862 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 863 |
+
<general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
|
| 864 |
+
<general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
|
| 865 |
+
<general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
|
| 866 |
+
<general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
|
| 867 |
+
<general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
|
| 868 |
+
<general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
|
| 869 |
+
<general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
|
| 870 |
+
<general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
|
| 871 |
+
<general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
|
| 872 |
+
<general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
|
| 873 |
+
<general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
|
| 874 |
+
<general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
|
| 875 |
+
<general name="left_mfa2" class="left_medial" joint="left_middle_medial_joint"/>
|
| 876 |
+
<general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
|
| 877 |
+
<general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
|
| 878 |
+
<general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
|
| 879 |
+
<general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
|
| 880 |
+
<general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
|
| 881 |
+
<general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
|
| 882 |
+
<general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
|
| 883 |
+
<general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
|
| 884 |
+
<general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
|
| 885 |
+
</actuator>
|
| 886 |
+
</mujoco>
|
processed/fair_fre/metahand/bimanual/pour/scene_eq.xml
ADDED
|
@@ -0,0 +1,905 @@
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|
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|
|
| 1 |
+
<mujoco model="bimanual">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
+
|
| 4 |
+
<option timestep="0.01" iterations="10">
|
| 5 |
+
<flag eulerdamp="disable"/>
|
| 6 |
+
</option>
|
| 7 |
+
|
| 8 |
+
<visual>
|
| 9 |
+
<global azimuth="140" elevation="-20"/>
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1"/>
|
| 12 |
+
</visual>
|
| 13 |
+
|
| 14 |
+
<default>
|
| 15 |
+
<default class="mimic_right">
|
| 16 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 17 |
+
</default>
|
| 18 |
+
<default class="metahand_right">
|
| 19 |
+
<joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2" frictionloss="0.02"/>
|
| 20 |
+
<geom density="800"/>
|
| 21 |
+
<general biastype="affine" gainprm="3" biasprm="0 -3"/>
|
| 22 |
+
<default class="right_visual">
|
| 23 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
|
| 24 |
+
<default class="right_palm_visual">
|
| 25 |
+
<geom mesh="right_base_link"/>
|
| 26 |
+
</default>
|
| 27 |
+
<default class="right_base_visual">
|
| 28 |
+
<geom mesh="right_link_0.0"/>
|
| 29 |
+
</default>
|
| 30 |
+
<default class="right_proximal_visual">
|
| 31 |
+
<geom mesh="right_link_1.0"/>
|
| 32 |
+
</default>
|
| 33 |
+
<default class="right_medial_visual">
|
| 34 |
+
<geom mesh="right_link_2.0"/>
|
| 35 |
+
</default>
|
| 36 |
+
<default class="right_distal_visual">
|
| 37 |
+
<geom mesh="right_link_3.0"/>
|
| 38 |
+
</default>
|
| 39 |
+
<default class="right_fingertip_visual">
|
| 40 |
+
<geom material="right_white" mesh="right_link_3.0_tip"/>
|
| 41 |
+
</default>
|
| 42 |
+
<default class="right_thumbtip_visual">
|
| 43 |
+
<geom material="right_white" mesh="right_link_15.0_tip"/>
|
| 44 |
+
</default>
|
| 45 |
+
</default>
|
| 46 |
+
<default class="right_collision">
|
| 47 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 48 |
+
<default class="right_palm_collision">
|
| 49 |
+
<geom size="0.0204 0.0565 0.0475"/>
|
| 50 |
+
</default>
|
| 51 |
+
<default class="right_base_collision">
|
| 52 |
+
<geom size="0.0098 0.01375 0.0082"/>
|
| 53 |
+
<default class="right_thumb_base_collision">
|
| 54 |
+
<geom size="0.0179 0.017 0.02275"/>
|
| 55 |
+
</default>
|
| 56 |
+
</default>
|
| 57 |
+
<default class="right_proximal_collision">
|
| 58 |
+
<geom size="0.0098 0.01375 0.027"/>
|
| 59 |
+
<default class="right_thumb_proximal_collision">
|
| 60 |
+
<geom size="0.0098 0.01375 0.00885"/>
|
| 61 |
+
</default>
|
| 62 |
+
</default>
|
| 63 |
+
<default class="right_medial_collision">
|
| 64 |
+
<geom size="0.0098 0.01375 0.0192"/>
|
| 65 |
+
<default class="right_thumb_medial_collision">
|
| 66 |
+
<geom size="0.0098 0.01375 0.0257"/>
|
| 67 |
+
</default>
|
| 68 |
+
</default>
|
| 69 |
+
<default class="right_distal_collision">
|
| 70 |
+
<geom size="0.0098 0.01375 0.008"/>
|
| 71 |
+
<default class="right_thumb_distal_collision">
|
| 72 |
+
<geom size="0.0098 0.01375 0.0157"/>
|
| 73 |
+
</default>
|
| 74 |
+
</default>
|
| 75 |
+
<default class="right_fingertip_collision">
|
| 76 |
+
<geom size="0.01235 0 0" type="capsule"/>
|
| 77 |
+
<default class="right_thumbtip_collision"/>
|
| 78 |
+
</default>
|
| 79 |
+
</default>
|
| 80 |
+
<default class="right_base_slide">
|
| 81 |
+
<joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 82 |
+
<general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
|
| 83 |
+
</default>
|
| 84 |
+
<default class="right_base_hinge">
|
| 85 |
+
<joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 86 |
+
<general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
|
| 87 |
+
</default>
|
| 88 |
+
<default class="right_base">
|
| 89 |
+
<joint range="-0.47 0.47"/>
|
| 90 |
+
<general ctrlrange="-0.47 0.47"/>
|
| 91 |
+
</default>
|
| 92 |
+
<default class="right_proximal">
|
| 93 |
+
<joint range="0.196 1.61"/>
|
| 94 |
+
<general ctrlrange="0.196 1.61"/>
|
| 95 |
+
</default>
|
| 96 |
+
<default class="right_medial">
|
| 97 |
+
<joint range="0.174 1.709"/>
|
| 98 |
+
<general ctrlrange="0.174 1.709"/>
|
| 99 |
+
</default>
|
| 100 |
+
<default class="right_distal">
|
| 101 |
+
<joint range="0.227 1.618"/>
|
| 102 |
+
<general ctrlrange="0.227 1.618"/>
|
| 103 |
+
</default>
|
| 104 |
+
<default class="right_thumb_base">
|
| 105 |
+
<joint range="0.263 1.396"/>
|
| 106 |
+
<general ctrlrange="0.263 1.396"/>
|
| 107 |
+
</default>
|
| 108 |
+
<default class="right_thumb_proximal">
|
| 109 |
+
<joint range="0.105 1.163"/>
|
| 110 |
+
<general ctrlrange="0.105 1.163"/>
|
| 111 |
+
</default>
|
| 112 |
+
<default class="right_thumb_medial">
|
| 113 |
+
<joint range="0.189 1.644"/>
|
| 114 |
+
<general ctrlrange="0.189 1.644"/>
|
| 115 |
+
</default>
|
| 116 |
+
<default class="right_thumb_distal">
|
| 117 |
+
<joint range="0.162 1.719"/>
|
| 118 |
+
<general ctrlrange="0.162 1.719"/>
|
| 119 |
+
</default>
|
| 120 |
+
</default>
|
| 121 |
+
<default class="mimic_left">
|
| 122 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 123 |
+
</default>
|
| 124 |
+
<default class="metahand_left">
|
| 125 |
+
<joint actuatorfrcrange="-0.2196 0.2196" armature="0.00149376" damping="0.2" frictionloss="0.02"/>
|
| 126 |
+
<geom density="800"/>
|
| 127 |
+
<general biastype="affine" gainprm="3" biasprm="0 -3"/>
|
| 128 |
+
<default class="left_visual">
|
| 129 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="left_black"/>
|
| 130 |
+
<default class="left_palm_visual">
|
| 131 |
+
<geom mesh="left_base_link"/>
|
| 132 |
+
</default>
|
| 133 |
+
<default class="left_base_visual">
|
| 134 |
+
<geom mesh="left_link_0.0"/>
|
| 135 |
+
</default>
|
| 136 |
+
<default class="left_proximal_visual">
|
| 137 |
+
<geom mesh="left_link_1.0"/>
|
| 138 |
+
</default>
|
| 139 |
+
<default class="left_medial_visual">
|
| 140 |
+
<geom mesh="left_link_2.0"/>
|
| 141 |
+
</default>
|
| 142 |
+
<default class="left_distal_visual">
|
| 143 |
+
<geom mesh="left_link_3.0"/>
|
| 144 |
+
</default>
|
| 145 |
+
<default class="left_fingertip_visual">
|
| 146 |
+
<geom material="left_white" mesh="left_link_3.0_tip"/>
|
| 147 |
+
</default>
|
| 148 |
+
<default class="left_thumbtip_visual">
|
| 149 |
+
<geom material="left_white" mesh="left_link_15.0_tip"/>
|
| 150 |
+
</default>
|
| 151 |
+
</default>
|
| 152 |
+
<default class="left_collision">
|
| 153 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 154 |
+
<default class="left_palm_collision">
|
| 155 |
+
<geom size="0.0204 0.0565 0.0475"/>
|
| 156 |
+
</default>
|
| 157 |
+
<default class="left_base_collision">
|
| 158 |
+
<geom size="0.0098 0.01375 0.0082"/>
|
| 159 |
+
<default class="left_thumb_base_collision">
|
| 160 |
+
<geom size="0.0179 0.017 0.02275"/>
|
| 161 |
+
</default>
|
| 162 |
+
</default>
|
| 163 |
+
<default class="left_proximal_collision">
|
| 164 |
+
<geom size="0.0098 0.01375 0.027"/>
|
| 165 |
+
<default class="left_thumb_proximal_collision">
|
| 166 |
+
<geom size="0.0098 0.01375 0.00885"/>
|
| 167 |
+
</default>
|
| 168 |
+
</default>
|
| 169 |
+
<default class="left_medial_collision">
|
| 170 |
+
<geom size="0.0098 0.01375 0.0192"/>
|
| 171 |
+
<default class="left_thumb_medial_collision">
|
| 172 |
+
<geom size="0.0098 0.01375 0.0257"/>
|
| 173 |
+
</default>
|
| 174 |
+
</default>
|
| 175 |
+
<default class="left_distal_collision">
|
| 176 |
+
<geom size="0.0098 0.01375 0.008"/>
|
| 177 |
+
<default class="left_thumb_distal_collision">
|
| 178 |
+
<geom size="0.0098 0.01375 0.0157"/>
|
| 179 |
+
</default>
|
| 180 |
+
</default>
|
| 181 |
+
<default class="left_fingertip_collision">
|
| 182 |
+
<geom size="0.01235 0 0" type="capsule"/>
|
| 183 |
+
<default class="left_thumbtip_collision"/>
|
| 184 |
+
</default>
|
| 185 |
+
</default>
|
| 186 |
+
<default class="left_base_slide">
|
| 187 |
+
<joint type="slide" range="-3 3" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 188 |
+
<general ctrlrange="-3 3" gainprm="300" biasprm="0 -300 1"/>
|
| 189 |
+
</default>
|
| 190 |
+
<default class="left_base_hinge">
|
| 191 |
+
<joint range="-6.28 6.28" actuatorfrcrange="-1000 1000" armature="1" damping="0"/>
|
| 192 |
+
<general ctrlrange="-6.28 6.28" gainprm="300" biasprm="0 -300 1"/>
|
| 193 |
+
</default>
|
| 194 |
+
<default class="left_base">
|
| 195 |
+
<joint range="-0.47 0.47"/>
|
| 196 |
+
<general ctrlrange="-0.47 0.47"/>
|
| 197 |
+
</default>
|
| 198 |
+
<default class="left_proximal">
|
| 199 |
+
<joint range="0.196 1.61"/>
|
| 200 |
+
<general ctrlrange="0.196 1.61"/>
|
| 201 |
+
</default>
|
| 202 |
+
<default class="left_medial">
|
| 203 |
+
<joint range="0.174 1.709"/>
|
| 204 |
+
<general ctrlrange="0.174 1.709"/>
|
| 205 |
+
</default>
|
| 206 |
+
<default class="left_distal">
|
| 207 |
+
<joint range="0.227 1.618"/>
|
| 208 |
+
<general ctrlrange="0.227 1.618"/>
|
| 209 |
+
</default>
|
| 210 |
+
<default class="left_thumb_base">
|
| 211 |
+
<joint range="0.263 1.396"/>
|
| 212 |
+
<general ctrlrange="0.263 1.396"/>
|
| 213 |
+
</default>
|
| 214 |
+
<default class="left_thumb_proximal">
|
| 215 |
+
<joint range="0.105 1.163"/>
|
| 216 |
+
<general ctrlrange="0.105 1.163"/>
|
| 217 |
+
</default>
|
| 218 |
+
<default class="left_thumb_medial">
|
| 219 |
+
<joint range="0.189 1.644"/>
|
| 220 |
+
<general ctrlrange="0.189 1.644"/>
|
| 221 |
+
</default>
|
| 222 |
+
<default class="left_thumb_distal">
|
| 223 |
+
<joint range="0.162 1.719"/>
|
| 224 |
+
<general ctrlrange="0.162 1.719"/>
|
| 225 |
+
</default>
|
| 226 |
+
</default>
|
| 227 |
+
</default>
|
| 228 |
+
|
| 229 |
+
<asset>
|
| 230 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 231 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 232 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 233 |
+
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 234 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 235 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
|
| 236 |
+
<material name="right_black" rgba="0.2 0.2 0.2 1"/>
|
| 237 |
+
<material name="right_white" rgba="0.9 0.9 0.9 1"/>
|
| 238 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 239 |
+
<material name="left_black" rgba="0.2 0.2 0.2 1"/>
|
| 240 |
+
<material name="left_white" rgba="0.9 0.9 0.9 1"/>
|
| 241 |
+
<material name="left_groundplane" texture="left_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 242 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 243 |
+
<mesh name="right_base_link" file="robots/metahand/assets/base_link.stl"/>
|
| 244 |
+
<mesh name="right_link_0.0" file="robots/metahand/assets/link_0.0.stl"/>
|
| 245 |
+
<mesh name="right_link_1.0" file="robots/metahand/assets/link_1.0.stl"/>
|
| 246 |
+
<mesh name="right_link_2.0" file="robots/metahand/assets/link_2.0.stl"/>
|
| 247 |
+
<mesh name="right_link_3.0" file="robots/metahand/assets/link_3.0.stl"/>
|
| 248 |
+
<mesh name="right_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl"/>
|
| 249 |
+
<mesh name="right_link_12.0_right" file="robots/metahand/assets/link_12.0_right.stl"/>
|
| 250 |
+
<mesh name="right_link_13.0" file="robots/metahand/assets/link_13.0.stl"/>
|
| 251 |
+
<mesh name="right_link_14.0" file="robots/metahand/assets/link_14.0.stl"/>
|
| 252 |
+
<mesh name="right_link_15.0" file="robots/metahand/assets/link_15.0.stl"/>
|
| 253 |
+
<mesh name="right_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl"/>
|
| 254 |
+
<mesh name="left_base_link" file="robots/metahand/assets/base_link_left.stl"/>
|
| 255 |
+
<mesh name="left_link_0.0" file="robots/metahand/assets/link_0.0.stl"/>
|
| 256 |
+
<mesh name="left_link_1.0" file="robots/metahand/assets/link_1.0.stl"/>
|
| 257 |
+
<mesh name="left_link_2.0" file="robots/metahand/assets/link_2.0.stl"/>
|
| 258 |
+
<mesh name="left_link_3.0" file="robots/metahand/assets/link_3.0.stl"/>
|
| 259 |
+
<mesh name="left_link_3.0_tip" file="robots/metahand/assets/link_3.0_tip.stl"/>
|
| 260 |
+
<mesh name="left_link_12.0_left" file="robots/metahand/assets/link_12.0_left.stl"/>
|
| 261 |
+
<mesh name="left_link_13.0" file="robots/metahand/assets/link_13.0.stl"/>
|
| 262 |
+
<mesh name="left_link_14.0" file="robots/metahand/assets/link_14.0.stl"/>
|
| 263 |
+
<mesh name="left_link_15.0" file="robots/metahand/assets/link_15.0.stl"/>
|
| 264 |
+
<mesh name="left_link_15.0_tip" file="robots/metahand/assets/link_15.0_tip.stl"/>
|
| 265 |
+
<mesh name="right_0" file="objects/cup/convex/0.obj"/>
|
| 266 |
+
<mesh name="right_1" file="objects/cup/convex/1.obj"/>
|
| 267 |
+
<mesh name="right_2" file="objects/cup/convex/2.obj"/>
|
| 268 |
+
<mesh name="right_3" file="objects/cup/convex/3.obj"/>
|
| 269 |
+
<mesh name="right_4" file="objects/cup/convex/4.obj"/>
|
| 270 |
+
<mesh name="right_5" file="objects/cup/convex/5.obj"/>
|
| 271 |
+
<mesh name="right_6" file="objects/cup/convex/6.obj"/>
|
| 272 |
+
<mesh name="right_7" file="objects/cup/convex/7.obj"/>
|
| 273 |
+
<mesh name="right_visual" file="objects/cup/visual.obj"/>
|
| 274 |
+
</asset>
|
| 275 |
+
|
| 276 |
+
<worldbody>
|
| 277 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 278 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
|
| 279 |
+
<light pos="0 0 3.5" dir="0 0 -1"/>
|
| 280 |
+
<light pos="0 0 3.5" dir="0 0 -1"/>
|
| 281 |
+
<body name="right_palm" childclass="metahand_right" quat="0 0 -0.707107 0.707107" gravcomp="1">
|
| 282 |
+
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 283 |
+
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 284 |
+
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 285 |
+
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 286 |
+
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 287 |
+
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 288 |
+
<geom class="right_palm_visual" mesh="right_base_link"/>
|
| 289 |
+
<geom name="right_palm_collision" class="right_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
|
| 290 |
+
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 291 |
+
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 292 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 293 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 294 |
+
<geom name="right_index_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 295 |
+
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 296 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 297 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 298 |
+
<geom name="right_index_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 299 |
+
<body name="right_ff_medial" pos="0 0 0.054">
|
| 300 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 301 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 302 |
+
<geom name="right_index_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 303 |
+
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 304 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 305 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 306 |
+
<geom name="right_index_tip_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 307 |
+
<body name="right_ff_tip">
|
| 308 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
|
| 309 |
+
<geom name="right_index_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 310 |
+
<site name="right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 311 |
+
<site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 312 |
+
<site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 313 |
+
</body>
|
| 314 |
+
</body>
|
| 315 |
+
</body>
|
| 316 |
+
</body>
|
| 317 |
+
</body>
|
| 318 |
+
<body name="right_mf_base" pos="0 0 0.0007">
|
| 319 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 320 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 321 |
+
<geom name="right_middle_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 322 |
+
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 323 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 324 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 325 |
+
<geom name="right_middle_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 326 |
+
<body name="right_mf_medial" pos="0 0 0.054">
|
| 327 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 328 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 329 |
+
<geom name="right_middle_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 330 |
+
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 331 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 332 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 333 |
+
<geom name="right_middle_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 334 |
+
<body name="right_mf_tip">
|
| 335 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
|
| 336 |
+
<geom name="right_middle_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 337 |
+
<site name="right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 338 |
+
<site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 339 |
+
<site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 340 |
+
</body>
|
| 341 |
+
</body>
|
| 342 |
+
</body>
|
| 343 |
+
</body>
|
| 344 |
+
</body>
|
| 345 |
+
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 346 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 347 |
+
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 348 |
+
<geom name="right_ring_base_collision" class="right_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 349 |
+
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 350 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 351 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 352 |
+
<geom name="right_ring_proximal_collision" class="right_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 353 |
+
<body name="right_rf_medial" pos="0 0 0.054">
|
| 354 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 355 |
+
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 356 |
+
<geom name="right_ring_intermediate_collision" class="right_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 357 |
+
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 358 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 359 |
+
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 360 |
+
<geom name="right_ring_distal_collision" class="right_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 361 |
+
<body name="right_rf_tip">
|
| 362 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0515" mesh="right_link_3.0_tip"/>
|
| 363 |
+
<geom name="right_ring_collision" class="right_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 364 |
+
<site name="right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 365 |
+
<site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 366 |
+
<site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.0515"/>
|
| 367 |
+
</body>
|
| 368 |
+
</body>
|
| 369 |
+
</body>
|
| 370 |
+
</body>
|
| 371 |
+
</body>
|
| 372 |
+
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987" quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 373 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0"/>
|
| 374 |
+
<geom class="right_visual" mesh="right_link_12.0_right"/>
|
| 375 |
+
<geom name="right_thumb_base_collision" class="right_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 376 |
+
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 377 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 378 |
+
<geom class="right_visual" mesh="right_link_13.0"/>
|
| 379 |
+
<geom name="right_thumb_proximal_collision" class="right_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 380 |
+
<body name="right_th_medial" pos="0 0 0.0177">
|
| 381 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 382 |
+
<geom class="right_visual" mesh="right_link_14.0"/>
|
| 383 |
+
<geom name="right_thumb_intermediate_collision" class="right_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 384 |
+
<body name="right_th_distal" pos="0 0 0.0514">
|
| 385 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 386 |
+
<geom class="right_visual" mesh="right_link_15.0"/>
|
| 387 |
+
<geom name="right_thumb_distal_collision" class="right_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 388 |
+
<body name="right_th_tip">
|
| 389 |
+
<geom class="right_thumbtip_visual" pos="0 0 0.0671" mesh="right_link_15.0_tip"/>
|
| 390 |
+
<geom name="right_thumb_collision" class="right_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
|
| 391 |
+
<site name="right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
|
| 392 |
+
<site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
|
| 393 |
+
<site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.0671"/>
|
| 394 |
+
</body>
|
| 395 |
+
</body>
|
| 396 |
+
</body>
|
| 397 |
+
</body>
|
| 398 |
+
</body>
|
| 399 |
+
</body>
|
| 400 |
+
<body name="left_palm" childclass="metahand_left" quat="0 0 0.707107 -0.707107" gravcomp="1">
|
| 401 |
+
<joint name="left_pos_x" class="left_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 402 |
+
<joint name="left_pos_y" class="left_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 403 |
+
<joint name="left_pos_z" class="left_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 404 |
+
<joint name="left_rot_x" class="left_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 405 |
+
<joint name="left_rot_y" class="left_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 406 |
+
<joint name="left_rot_z" class="left_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 407 |
+
<geom class="left_palm_visual" quat="0.707107 -0.707107 0 0" mesh="left_base_link"/>
|
| 408 |
+
<geom name="left_palm_collision" class="left_palm_collision" pos="-0.0093 0 -0.0475" mass="0"/>
|
| 409 |
+
<site name="left_palm" class="mimic_left" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 410 |
+
<camera name="left_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956"/>
|
| 411 |
+
<body name="left_rf_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 412 |
+
<joint name="left_ring_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 413 |
+
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 414 |
+
<geom name="left_ring_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 415 |
+
<body name="left_rf_proximal" pos="0 0 0.0164">
|
| 416 |
+
<joint name="left_ring_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 417 |
+
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 418 |
+
<geom name="left_ring_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 419 |
+
<body name="left_rf_medial" pos="0 0 0.054">
|
| 420 |
+
<joint name="left_ring_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 421 |
+
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 422 |
+
<geom name="left_ring_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 423 |
+
<body name="left_rf_distal" pos="0 0 0.0384">
|
| 424 |
+
<joint name="left_ring_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 425 |
+
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 426 |
+
<geom name="left_ring_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 427 |
+
<body name="left_rf_tip">
|
| 428 |
+
<geom class="left_fingertip_visual" pos="0 0 0.0515" mesh="left_link_3.0_tip"/>
|
| 429 |
+
<geom name="left_ring_collision" class="left_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 430 |
+
<site name="left_ring_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 431 |
+
<site name="track_hand_left_ring_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 432 |
+
<site name="trace_left_ring_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 433 |
+
</body>
|
| 434 |
+
</body>
|
| 435 |
+
</body>
|
| 436 |
+
</body>
|
| 437 |
+
</body>
|
| 438 |
+
<body name="left_mf_base" pos="0 0 0.0007">
|
| 439 |
+
<joint name="left_middle_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 440 |
+
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 441 |
+
<geom name="left_middle_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 442 |
+
<body name="left_mf_proximal" pos="0 0 0.0164">
|
| 443 |
+
<joint name="left_middle_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 444 |
+
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 445 |
+
<geom name="left_middle_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 446 |
+
<body name="left_mf_medial" pos="0 0 0.054">
|
| 447 |
+
<joint name="left_middle_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 448 |
+
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 449 |
+
<geom name="left_middle_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 450 |
+
<body name="left_mf_distal" pos="0 0 0.0384">
|
| 451 |
+
<joint name="left_middle_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 452 |
+
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 453 |
+
<geom name="left_middle_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 454 |
+
<body name="left_mf_tip">
|
| 455 |
+
<geom class="left_fingertip_visual" pos="0 0 0.0515" mesh="left_link_3.0_tip"/>
|
| 456 |
+
<geom name="left_middle_collision" class="left_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 457 |
+
<site name="left_middle_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 458 |
+
<site name="track_hand_left_middle_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 459 |
+
<site name="trace_left_middle_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 460 |
+
</body>
|
| 461 |
+
</body>
|
| 462 |
+
</body>
|
| 463 |
+
</body>
|
| 464 |
+
</body>
|
| 465 |
+
<body name="left_ff_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 466 |
+
<joint name="left_index_base_joint" class="left_base" pos="0 0 0" axis="0 0 1"/>
|
| 467 |
+
<geom class="left_base_visual" mesh="left_link_0.0"/>
|
| 468 |
+
<geom name="left_index_base_collision" class="left_base_collision" pos="0 0 0.0082" mass="0"/>
|
| 469 |
+
<body name="left_ff_proximal" pos="0 0 0.0164">
|
| 470 |
+
<joint name="left_index_proximal_joint" class="left_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 471 |
+
<geom class="left_proximal_visual" mesh="left_link_1.0"/>
|
| 472 |
+
<geom name="left_index_proximal_collision" class="left_proximal_collision" pos="0 0 0.027" mass="0"/>
|
| 473 |
+
<body name="left_ff_medial" pos="0 0 0.054">
|
| 474 |
+
<joint name="left_index_medial_joint" class="left_medial" pos="0 0 0" axis="0 1 0"/>
|
| 475 |
+
<geom class="left_medial_visual" mesh="left_link_2.0"/>
|
| 476 |
+
<geom name="left_index_intermediate_collision" class="left_medial_collision" pos="0 0 0.0192" mass="0"/>
|
| 477 |
+
<body name="left_ff_distal" pos="0 0 0.0384">
|
| 478 |
+
<joint name="left_index_distal_joint" class="left_distal" pos="0 0 0" axis="0 1 0"/>
|
| 479 |
+
<geom class="left_distal_visual" mesh="left_link_3.0"/>
|
| 480 |
+
<geom name="left_index_distal_collision" class="left_distal_collision" pos="0 0 0.008" mass="0"/>
|
| 481 |
+
<body name="left_ff_tip">
|
| 482 |
+
<geom class="left_fingertip_visual" pos="0 0 0.0515" mesh="left_link_3.0_tip"/>
|
| 483 |
+
<geom name="left_index_collision" class="left_fingertip_collision" size="0.01235 0.02575" pos="0 0 0.02575" quat="0 1 0 0" mass="0"/>
|
| 484 |
+
<site name="left_index_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 485 |
+
<site name="track_hand_left_index_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 486 |
+
<site name="trace_left_index_tip" class="mimic_left" pos="0 0 0.0515"/>
|
| 487 |
+
</body>
|
| 488 |
+
</body>
|
| 489 |
+
</body>
|
| 490 |
+
</body>
|
| 491 |
+
</body>
|
| 492 |
+
<body name="left_th_base" pos="-0.0182 -0.019333 -0.045987" quat="0.477714 0.521334 -0.521334 0.477714">
|
| 493 |
+
<joint name="left_thumb_base_joint" class="left_thumb_base" pos="0 0 0" axis="1 0 0"/>
|
| 494 |
+
<geom class="left_visual" quat="0 1 0 0" mesh="left_link_12.0_left"/>
|
| 495 |
+
<geom name="left_thumb_base_collision" class="left_thumb_base_collision" pos="-0.0179 0.009 0.0145" mass="0"/>
|
| 496 |
+
<body name="left_th_proximal" pos="-0.027 -0.005 0.0399">
|
| 497 |
+
<joint name="left_thumb_proximal_joint" class="left_thumb_proximal" pos="0 0 0" axis="0 0 1"/>
|
| 498 |
+
<geom class="left_visual" mesh="left_link_13.0"/>
|
| 499 |
+
<geom name="left_thumb_proximal_collision" class="left_thumb_proximal_collision" pos="0 0 0.00885" mass="0"/>
|
| 500 |
+
<body name="left_th_medial" pos="0 0 0.0177">
|
| 501 |
+
<joint name="left_thumb_medial_joint" class="left_thumb_medial" pos="0 0 0" axis="0 1 0"/>
|
| 502 |
+
<geom class="left_visual" mesh="left_link_14.0"/>
|
| 503 |
+
<geom name="left_thumb_intermediate_collision" class="left_thumb_medial_collision" pos="0 0 0.0257" mass="0"/>
|
| 504 |
+
<body name="left_th_distal" pos="0 0 0.0514">
|
| 505 |
+
<joint name="left_thumb_distal_joint" class="left_thumb_distal" pos="0 0 0" axis="0 1 0"/>
|
| 506 |
+
<geom class="left_visual" mesh="left_link_15.0"/>
|
| 507 |
+
<geom name="left_thumb_distal_collision" class="left_thumb_distal_collision" pos="0 0 0.0157" mass="0"/>
|
| 508 |
+
<body name="left_th_tip">
|
| 509 |
+
<geom class="left_thumbtip_visual" pos="0 0 0.0671" mesh="left_link_15.0_tip"/>
|
| 510 |
+
<geom name="left_thumb_collision" class="left_thumbtip_collision" size="0.01235 0.03355" pos="0 0 0.03355" quat="0 1 0 0" mass="0"/>
|
| 511 |
+
<site name="left_thumb_tip" class="mimic_left" pos="0 0 0.0671"/>
|
| 512 |
+
<site name="track_hand_left_thumb_tip" class="mimic_left" pos="0 0 0.0671"/>
|
| 513 |
+
<site name="trace_left_thumb_tip" class="mimic_left" pos="0 0 0.0671"/>
|
| 514 |
+
</body>
|
| 515 |
+
</body>
|
| 516 |
+
</body>
|
| 517 |
+
</body>
|
| 518 |
+
</body>
|
| 519 |
+
</body>
|
| 520 |
+
<body name="right_object">
|
| 521 |
+
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 522 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 523 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 524 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 525 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 526 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 527 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 528 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 529 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 530 |
+
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 531 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 532 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 533 |
+
<site name="track_object_right_thumb_tip" pos="-0.0232345 0.0403619 0.024903" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 534 |
+
<site name="track_object_right_index_tip" pos="0.0114724 0.046918 -0.0185817" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 535 |
+
<site name="track_object_right_middle_tip" pos="0.0114395 0.0334294 -0.0246829" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 536 |
+
<site name="track_object_right_ring_tip" pos="0.015314 0.0146321 -0.0196279" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 537 |
+
<site name="track_object_left_thumb_tip" pos="-0.0353105 0.00880481 -0.0106247" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 538 |
+
<site name="track_object_left_index_tip" pos="0.0369431 0.0184801 -0.0240982" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 539 |
+
<site name="track_object_left_middle_tip" pos="0.0384532 -0.00714914 -0.0177101" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 540 |
+
<site name="track_object_left_ring_tip" pos="0.0372887 -0.0142294 -0.0241416" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 541 |
+
</body>
|
| 542 |
+
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 543 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 544 |
+
</body>
|
| 545 |
+
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 546 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 547 |
+
</body>
|
| 548 |
+
<body name="ref_object_right_index_tip" mocap="true">
|
| 549 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 550 |
+
</body>
|
| 551 |
+
<body name="ref_hand_right_index_tip" mocap="true">
|
| 552 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 553 |
+
</body>
|
| 554 |
+
<body name="ref_object_right_middle_tip" mocap="true">
|
| 555 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 556 |
+
</body>
|
| 557 |
+
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 558 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 559 |
+
</body>
|
| 560 |
+
<body name="ref_object_right_ring_tip" mocap="true">
|
| 561 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 562 |
+
</body>
|
| 563 |
+
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 564 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 565 |
+
</body>
|
| 566 |
+
<body name="left_object" gravcomp="1">
|
| 567 |
+
<joint name="left_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="1" frictionloss="1"/>
|
| 568 |
+
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 569 |
+
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 570 |
+
<site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 571 |
+
</body>
|
| 572 |
+
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 573 |
+
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 574 |
+
</body>
|
| 575 |
+
<body name="ref_hand_left_thumb_tip" mocap="true">
|
| 576 |
+
<site name="ref_hand_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 577 |
+
</body>
|
| 578 |
+
<body name="ref_object_left_index_tip" mocap="true">
|
| 579 |
+
<site name="ref_object_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 580 |
+
</body>
|
| 581 |
+
<body name="ref_hand_left_index_tip" mocap="true">
|
| 582 |
+
<site name="ref_hand_left_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 583 |
+
</body>
|
| 584 |
+
<body name="ref_object_left_middle_tip" mocap="true">
|
| 585 |
+
<site name="ref_object_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 586 |
+
</body>
|
| 587 |
+
<body name="ref_hand_left_middle_tip" mocap="true">
|
| 588 |
+
<site name="ref_hand_left_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 589 |
+
</body>
|
| 590 |
+
<body name="ref_object_left_ring_tip" mocap="true">
|
| 591 |
+
<site name="ref_object_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 592 |
+
</body>
|
| 593 |
+
<body name="ref_hand_left_ring_tip" mocap="true">
|
| 594 |
+
<site name="ref_hand_left_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 595 |
+
</body>
|
| 596 |
+
</worldbody>
|
| 597 |
+
|
| 598 |
+
<contact>
|
| 599 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 600 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 601 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 602 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 603 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 604 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 605 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 606 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 607 |
+
<pair geom1="right_palm_collision" geom2="right_object_0" name="right_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 608 |
+
<pair geom1="right_palm_collision" geom2="right_object_1" name="right_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 609 |
+
<pair geom1="right_palm_collision" geom2="right_object_2" name="right_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 610 |
+
<pair geom1="right_palm_collision" geom2="right_object_3" name="right_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 611 |
+
<pair geom1="right_palm_collision" geom2="right_object_4" name="right_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 612 |
+
<pair geom1="right_palm_collision" geom2="right_object_5" name="right_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 613 |
+
<pair geom1="right_palm_collision" geom2="right_object_6" name="right_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 614 |
+
<pair geom1="right_palm_collision" geom2="right_object_7" name="right_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 615 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_0" name="right_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 616 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_1" name="right_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 617 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_2" name="right_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 618 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_3" name="right_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 619 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_4" name="right_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 620 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_5" name="right_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 621 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_6" name="right_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 622 |
+
<pair geom1="right_index_proximal_collision" geom2="right_object_7" name="right_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 623 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 624 |
+
<pair geom1="right_index_intermediate_collision" geom2="left_index_intermediate_collision" name="left_index_intermediate_collision_right_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 625 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_0" name="right_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 626 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_1" name="right_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 627 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_2" name="right_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 628 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_3" name="right_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 629 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_4" name="right_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 630 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_5" name="right_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 631 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_6" name="right_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 632 |
+
<pair geom1="right_index_intermediate_collision" geom2="right_object_7" name="right_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 633 |
+
<pair geom1="right_index_collision" geom2="right_thumb_collision" name="right_thumb_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 634 |
+
<pair geom1="right_index_collision" geom2="left_index_collision" name="left_index_collision_right_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 635 |
+
<pair geom1="right_index_collision" geom2="right_object_0" name="right_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 636 |
+
<pair geom1="right_index_collision" geom2="right_object_1" name="right_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 637 |
+
<pair geom1="right_index_collision" geom2="right_object_2" name="right_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 638 |
+
<pair geom1="right_index_collision" geom2="right_object_3" name="right_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 639 |
+
<pair geom1="right_index_collision" geom2="right_object_4" name="right_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 640 |
+
<pair geom1="right_index_collision" geom2="right_object_5" name="right_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 641 |
+
<pair geom1="right_index_collision" geom2="right_object_6" name="right_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 642 |
+
<pair geom1="right_index_collision" geom2="right_object_7" name="right_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 643 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_0" name="right_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 644 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_1" name="right_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 645 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_2" name="right_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 646 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_3" name="right_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 647 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_4" name="right_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 648 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_5" name="right_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 649 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_6" name="right_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 650 |
+
<pair geom1="right_middle_proximal_collision" geom2="right_object_7" name="right_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 651 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_0" name="right_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 652 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_1" name="right_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 653 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_2" name="right_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 654 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_3" name="right_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 655 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_4" name="right_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 656 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_5" name="right_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 657 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_6" name="right_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 658 |
+
<pair geom1="right_middle_intermediate_collision" geom2="right_object_7" name="right_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 659 |
+
<pair geom1="right_middle_collision" geom2="right_object_0" name="right_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 660 |
+
<pair geom1="right_middle_collision" geom2="right_object_1" name="right_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 661 |
+
<pair geom1="right_middle_collision" geom2="right_object_2" name="right_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 662 |
+
<pair geom1="right_middle_collision" geom2="right_object_3" name="right_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 663 |
+
<pair geom1="right_middle_collision" geom2="right_object_4" name="right_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 664 |
+
<pair geom1="right_middle_collision" geom2="right_object_5" name="right_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 665 |
+
<pair geom1="right_middle_collision" geom2="right_object_6" name="right_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 666 |
+
<pair geom1="right_middle_collision" geom2="right_object_7" name="right_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 667 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_0" name="right_ring_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 668 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_1" name="right_ring_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 669 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_2" name="right_ring_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 670 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_3" name="right_ring_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 671 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_4" name="right_ring_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 672 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_5" name="right_ring_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 673 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_6" name="right_ring_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 674 |
+
<pair geom1="right_ring_proximal_collision" geom2="right_object_7" name="right_ring_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 675 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_0" name="right_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 676 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_1" name="right_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 677 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_2" name="right_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 678 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_3" name="right_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 679 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_4" name="right_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 680 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_5" name="right_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 681 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_6" name="right_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 682 |
+
<pair geom1="right_ring_intermediate_collision" geom2="right_object_7" name="right_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 683 |
+
<pair geom1="right_ring_collision" geom2="right_object_0" name="right_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 684 |
+
<pair geom1="right_ring_collision" geom2="right_object_1" name="right_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 685 |
+
<pair geom1="right_ring_collision" geom2="right_object_2" name="right_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 686 |
+
<pair geom1="right_ring_collision" geom2="right_object_3" name="right_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 687 |
+
<pair geom1="right_ring_collision" geom2="right_object_4" name="right_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 688 |
+
<pair geom1="right_ring_collision" geom2="right_object_5" name="right_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 689 |
+
<pair geom1="right_ring_collision" geom2="right_object_6" name="right_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 690 |
+
<pair geom1="right_ring_collision" geom2="right_object_7" name="right_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 691 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_0" name="right_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 692 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_1" name="right_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 693 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_2" name="right_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 694 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_3" name="right_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 695 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_4" name="right_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 696 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_5" name="right_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 697 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_6" name="right_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 698 |
+
<pair geom1="right_thumb_proximal_collision" geom2="right_object_7" name="right_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 699 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_0" name="right_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 700 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_1" name="right_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 701 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_2" name="right_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 702 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_3" name="right_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 703 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_4" name="right_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 704 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_5" name="right_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 705 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_6" name="right_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 706 |
+
<pair geom1="right_thumb_intermediate_collision" geom2="right_object_7" name="right_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 707 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_0" name="right_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 708 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_1" name="right_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 709 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_2" name="right_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 710 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_3" name="right_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 711 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_4" name="right_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 712 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_5" name="right_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 713 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_6" name="right_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 714 |
+
<pair geom1="right_thumb_distal_collision" geom2="right_object_7" name="right_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 715 |
+
<pair geom1="right_thumb_collision" geom2="left_thumb_collision" name="left_thumb_collision_right_thumb_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 716 |
+
<pair geom1="right_thumb_collision" geom2="right_object_0" name="right_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 717 |
+
<pair geom1="right_thumb_collision" geom2="right_object_1" name="right_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 718 |
+
<pair geom1="right_thumb_collision" geom2="right_object_2" name="right_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 719 |
+
<pair geom1="right_thumb_collision" geom2="right_object_3" name="right_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 720 |
+
<pair geom1="right_thumb_collision" geom2="right_object_4" name="right_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 721 |
+
<pair geom1="right_thumb_collision" geom2="right_object_5" name="right_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 722 |
+
<pair geom1="right_thumb_collision" geom2="right_object_6" name="right_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 723 |
+
<pair geom1="right_thumb_collision" geom2="right_object_7" name="right_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 724 |
+
<pair geom1="left_palm_collision" geom2="right_object_0" name="left_palm_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 725 |
+
<pair geom1="left_palm_collision" geom2="right_object_1" name="left_palm_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 726 |
+
<pair geom1="left_palm_collision" geom2="right_object_2" name="left_palm_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 727 |
+
<pair geom1="left_palm_collision" geom2="right_object_3" name="left_palm_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 728 |
+
<pair geom1="left_palm_collision" geom2="right_object_4" name="left_palm_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 729 |
+
<pair geom1="left_palm_collision" geom2="right_object_5" name="left_palm_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 730 |
+
<pair geom1="left_palm_collision" geom2="right_object_6" name="left_palm_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 731 |
+
<pair geom1="left_palm_collision" geom2="right_object_7" name="left_palm_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 732 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_0" name="left_ring_base_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 733 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_1" name="left_ring_base_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 734 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_2" name="left_ring_base_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 735 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_3" name="left_ring_base_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 736 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_4" name="left_ring_base_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 737 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_5" name="left_ring_base_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 738 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_6" name="left_ring_base_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 739 |
+
<pair geom1="left_ring_base_collision" geom2="right_object_7" name="left_ring_base_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 740 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_0" name="left_ring_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 741 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_1" name="left_ring_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 742 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_2" name="left_ring_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 743 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_3" name="left_ring_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 744 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_4" name="left_ring_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 745 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_5" name="left_ring_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 746 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_6" name="left_ring_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 747 |
+
<pair geom1="left_ring_intermediate_collision" geom2="right_object_7" name="left_ring_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 748 |
+
<pair geom1="left_ring_collision" geom2="right_object_0" name="left_ring_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 749 |
+
<pair geom1="left_ring_collision" geom2="right_object_1" name="left_ring_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 750 |
+
<pair geom1="left_ring_collision" geom2="right_object_2" name="left_ring_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 751 |
+
<pair geom1="left_ring_collision" geom2="right_object_3" name="left_ring_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 752 |
+
<pair geom1="left_ring_collision" geom2="right_object_4" name="left_ring_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 753 |
+
<pair geom1="left_ring_collision" geom2="right_object_5" name="left_ring_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 754 |
+
<pair geom1="left_ring_collision" geom2="right_object_6" name="left_ring_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 755 |
+
<pair geom1="left_ring_collision" geom2="right_object_7" name="left_ring_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 756 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_0" name="left_middle_proximal_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 757 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_1" name="left_middle_proximal_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 758 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_2" name="left_middle_proximal_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 759 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_3" name="left_middle_proximal_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 760 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_4" name="left_middle_proximal_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 761 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_5" name="left_middle_proximal_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 762 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_6" name="left_middle_proximal_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 763 |
+
<pair geom1="left_middle_proximal_collision" geom2="right_object_7" name="left_middle_proximal_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 764 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_0" name="left_middle_intermediate_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 765 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_1" name="left_middle_intermediate_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 766 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_2" name="left_middle_intermediate_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 767 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_3" name="left_middle_intermediate_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 768 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_4" name="left_middle_intermediate_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 769 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_5" name="left_middle_intermediate_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 770 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_6" name="left_middle_intermediate_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 771 |
+
<pair geom1="left_middle_intermediate_collision" geom2="right_object_7" name="left_middle_intermediate_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 772 |
+
<pair geom1="left_middle_collision" geom2="right_object_0" name="left_middle_collision_right_object_0" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 773 |
+
<pair geom1="left_middle_collision" geom2="right_object_1" name="left_middle_collision_right_object_1" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 774 |
+
<pair geom1="left_middle_collision" geom2="right_object_2" name="left_middle_collision_right_object_2" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 775 |
+
<pair geom1="left_middle_collision" geom2="right_object_3" name="left_middle_collision_right_object_3" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 776 |
+
<pair geom1="left_middle_collision" geom2="right_object_4" name="left_middle_collision_right_object_4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 777 |
+
<pair geom1="left_middle_collision" geom2="right_object_5" name="left_middle_collision_right_object_5" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 778 |
+
<pair geom1="left_middle_collision" geom2="right_object_6" name="left_middle_collision_right_object_6" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 779 |
+
<pair geom1="left_middle_collision" geom2="right_object_7" name="left_middle_collision_right_object_7" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 780 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_0" name="left_index_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 781 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_1" name="left_index_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 782 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_2" name="left_index_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 783 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_3" name="left_index_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 784 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_4" name="left_index_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 785 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_5" name="left_index_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 786 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_6" name="left_index_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 787 |
+
<pair geom1="left_index_proximal_collision" geom2="right_object_7" name="left_index_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 788 |
+
<pair geom1="left_index_intermediate_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_intermediate_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 789 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_0" name="left_index_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 790 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_1" name="left_index_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 791 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_2" name="left_index_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 792 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_3" name="left_index_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 793 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_4" name="left_index_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 794 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_5" name="left_index_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 795 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_6" name="left_index_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 796 |
+
<pair geom1="left_index_intermediate_collision" geom2="right_object_7" name="left_index_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 797 |
+
<pair geom1="left_index_collision" geom2="left_thumb_collision" name="left_thumb_collision_left_index_collision" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 798 |
+
<pair geom1="left_index_collision" geom2="right_object_0" name="left_index_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 799 |
+
<pair geom1="left_index_collision" geom2="right_object_1" name="left_index_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 800 |
+
<pair geom1="left_index_collision" geom2="right_object_2" name="left_index_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 801 |
+
<pair geom1="left_index_collision" geom2="right_object_3" name="left_index_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 802 |
+
<pair geom1="left_index_collision" geom2="right_object_4" name="left_index_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 803 |
+
<pair geom1="left_index_collision" geom2="right_object_5" name="left_index_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 804 |
+
<pair geom1="left_index_collision" geom2="right_object_6" name="left_index_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 805 |
+
<pair geom1="left_index_collision" geom2="right_object_7" name="left_index_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 806 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_0" name="left_thumb_proximal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 807 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_1" name="left_thumb_proximal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 808 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_2" name="left_thumb_proximal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 809 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_3" name="left_thumb_proximal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 810 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_4" name="left_thumb_proximal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 811 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_5" name="left_thumb_proximal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 812 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_6" name="left_thumb_proximal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 813 |
+
<pair geom1="left_thumb_proximal_collision" geom2="right_object_7" name="left_thumb_proximal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 814 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_0" name="left_thumb_intermediate_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 815 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_1" name="left_thumb_intermediate_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 816 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_2" name="left_thumb_intermediate_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 817 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_3" name="left_thumb_intermediate_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 818 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_4" name="left_thumb_intermediate_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 819 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_5" name="left_thumb_intermediate_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 820 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_6" name="left_thumb_intermediate_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 821 |
+
<pair geom1="left_thumb_intermediate_collision" geom2="right_object_7" name="left_thumb_intermediate_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 822 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_0" name="left_thumb_distal_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 823 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_1" name="left_thumb_distal_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 824 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_2" name="left_thumb_distal_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 825 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_3" name="left_thumb_distal_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 826 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_4" name="left_thumb_distal_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 827 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_5" name="left_thumb_distal_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 828 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_6" name="left_thumb_distal_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 829 |
+
<pair geom1="left_thumb_distal_collision" geom2="right_object_7" name="left_thumb_distal_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 830 |
+
<pair geom1="left_thumb_collision" geom2="right_object_0" name="left_thumb_collision_right_object_0" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 831 |
+
<pair geom1="left_thumb_collision" geom2="right_object_1" name="left_thumb_collision_right_object_1" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 832 |
+
<pair geom1="left_thumb_collision" geom2="right_object_2" name="left_thumb_collision_right_object_2" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 833 |
+
<pair geom1="left_thumb_collision" geom2="right_object_3" name="left_thumb_collision_right_object_3" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 834 |
+
<pair geom1="left_thumb_collision" geom2="right_object_4" name="left_thumb_collision_right_object_4" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 835 |
+
<pair geom1="left_thumb_collision" geom2="right_object_5" name="left_thumb_collision_right_object_5" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 836 |
+
<pair geom1="left_thumb_collision" geom2="right_object_6" name="left_thumb_collision_right_object_6" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 837 |
+
<pair geom1="left_thumb_collision" geom2="right_object_7" name="left_thumb_collision_right_object_7" condim="4" solref="0.008" friction="1 1 0.1 0 0"/>
|
| 838 |
+
</contact>
|
| 839 |
+
|
| 840 |
+
<equality>
|
| 841 |
+
<connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
|
| 842 |
+
<connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
|
| 843 |
+
<connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
|
| 844 |
+
<connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
|
| 845 |
+
<connect name="track_hand_left_ring_tip_equality_constraint" site1="track_hand_left_ring_tip" site2="ref_hand_left_ring_tip" solimp="0 1 100"/>
|
| 846 |
+
<connect name="track_hand_left_middle_tip_equality_constraint" site1="track_hand_left_middle_tip" site2="ref_hand_left_middle_tip" solimp="0 1 100"/>
|
| 847 |
+
<connect name="track_hand_left_index_tip_equality_constraint" site1="track_hand_left_index_tip" site2="ref_hand_left_index_tip" solimp="0 1 100"/>
|
| 848 |
+
<connect name="track_hand_left_thumb_tip_equality_constraint" site1="track_hand_left_thumb_tip" site2="ref_hand_left_thumb_tip" solimp="0 1 100"/>
|
| 849 |
+
<connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
|
| 850 |
+
<connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
|
| 851 |
+
<connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
|
| 852 |
+
<connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
|
| 853 |
+
<connect name="track_object_left_thumb_tip_equality_constraint" site1="track_object_left_thumb_tip" site2="ref_object_left_thumb_tip" solimp="0 1 100"/>
|
| 854 |
+
<connect name="track_object_left_index_tip_equality_constraint" site1="track_object_left_index_tip" site2="ref_object_left_index_tip" solimp="0 1 100"/>
|
| 855 |
+
<connect name="track_object_left_middle_tip_equality_constraint" site1="track_object_left_middle_tip" site2="ref_object_left_middle_tip" solimp="0 1 100"/>
|
| 856 |
+
<connect name="track_object_left_ring_tip_equality_constraint" site1="track_object_left_ring_tip" site2="ref_object_left_ring_tip" solimp="0 1 100"/>
|
| 857 |
+
</equality>
|
| 858 |
+
|
| 859 |
+
<actuator>
|
| 860 |
+
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
|
| 861 |
+
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
|
| 862 |
+
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
|
| 863 |
+
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 864 |
+
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 865 |
+
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 866 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 867 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 868 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 869 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 870 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 871 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 872 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 873 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 874 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 875 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 876 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 877 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 878 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 879 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 880 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 881 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 882 |
+
<general name="left_pos_x" class="left_base_slide" joint="left_pos_x"/>
|
| 883 |
+
<general name="left_pos_y" class="left_base_slide" joint="left_pos_y"/>
|
| 884 |
+
<general name="left_pos_z" class="left_base_slide" joint="left_pos_z"/>
|
| 885 |
+
<general name="left_rot_x" class="left_base_hinge" joint="left_rot_x"/>
|
| 886 |
+
<general name="left_rot_y" class="left_base_hinge" joint="left_rot_y"/>
|
| 887 |
+
<general name="left_rot_z" class="left_base_hinge" joint="left_rot_z"/>
|
| 888 |
+
<general name="left_rfa0" class="left_base" joint="left_ring_base_joint"/>
|
| 889 |
+
<general name="left_rfa1" class="left_proximal" joint="left_ring_proximal_joint"/>
|
| 890 |
+
<general name="left_rfa2" class="left_medial" joint="left_ring_medial_joint"/>
|
| 891 |
+
<general name="left_rfa3" class="left_distal" joint="left_ring_distal_joint"/>
|
| 892 |
+
<general name="left_mfa0" class="left_base" joint="left_middle_base_joint"/>
|
| 893 |
+
<general name="left_mfa1" class="left_proximal" joint="left_middle_proximal_joint"/>
|
| 894 |
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|
| 895 |
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<general name="left_mfa3" class="left_distal" joint="left_middle_distal_joint"/>
|
| 896 |
+
<general name="left_ffa0" class="left_base" joint="left_index_base_joint"/>
|
| 897 |
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<general name="left_ffa1" class="left_proximal" joint="left_index_proximal_joint"/>
|
| 898 |
+
<general name="left_ffa2" class="left_medial" joint="left_index_medial_joint"/>
|
| 899 |
+
<general name="left_ffa3" class="left_distal" joint="left_index_distal_joint"/>
|
| 900 |
+
<general name="left_tha0" class="left_thumb_base" joint="left_thumb_base_joint"/>
|
| 901 |
+
<general name="left_tha1" class="left_thumb_proximal" joint="left_thumb_proximal_joint"/>
|
| 902 |
+
<general name="left_tha2" class="left_thumb_medial" joint="left_thumb_medial_joint"/>
|
| 903 |
+
<general name="left_tha3" class="left_thumb_distal" joint="left_thumb_distal_joint"/>
|
| 904 |
+
</actuator>
|
| 905 |
+
</mujoco>
|
processed/fair_fre/metahand/bimanual/pour/task_info.json
ADDED
|
@@ -0,0 +1,11 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "pour",
|
| 3 |
+
"dataset_name": "fair_fre",
|
| 4 |
+
"robot_type": "metahand",
|
| 5 |
+
"hand_type": "bimanual",
|
| 6 |
+
"data_id": 0,
|
| 7 |
+
"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup",
|
| 8 |
+
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/cup/convex",
|
| 9 |
+
"left_object_mesh_dir": null,
|
| 10 |
+
"left_object_convex_dir": null
|
| 11 |
+
}
|
processed/fair_fre/metahand/right/scoopspoon/2/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
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| 1 |
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processed/fair_fre/metahand/right/scoopspoon/2/trajectory_mjwp.npz
CHANGED
|
@@ -1,3 +1,3 @@
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| 1 |
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processed/fair_fre/metahand/right/scoopspoon/2/visualization_mjwp.mp4
CHANGED
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| 1 |
version https://git-lfs.github.com/spec/v1
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processed/fair_fre/metahand/right/scoopspoon/scene.xml
CHANGED
|
@@ -1,5 +1,5 @@
|
|
| 1 |
<mujoco model="metahand_right">
|
| 2 |
-
<compiler angle="radian" meshdir="
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
@@ -276,21 +276,21 @@
|
|
| 276 |
</body>
|
| 277 |
<body name="right_object">
|
| 278 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 279 |
-
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
|
| 280 |
-
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
|
| 281 |
-
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
|
| 282 |
-
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
|
| 283 |
-
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
|
| 284 |
-
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
|
| 285 |
-
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
|
| 286 |
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<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
|
| 287 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 288 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 289 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 290 |
-
<site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 291 |
-
<site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 292 |
-
<site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 293 |
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<site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 294 |
</body>
|
| 295 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 296 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 1 |
<mujoco model="metahand_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
|
|
| 276 |
</body>
|
| 277 |
<body name="right_object">
|
| 278 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 279 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_0"/>
|
| 280 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 281 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 282 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 283 |
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<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 284 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_5"/>
|
| 285 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 286 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 287 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 288 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 289 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 290 |
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<site name="track_object_right_thumb_tip" pos="-0.0181631 -0.00616439 -0.0154776" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 291 |
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<site name="track_object_right_index_tip" pos="0.0100376 -0.00737148 -0.0193491" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 292 |
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|
| 293 |
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<site name="track_object_right_ring_tip" pos="0.00226646 0.00269643 0.014338" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 294 |
</body>
|
| 295 |
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|
| 296 |
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|
processed/fair_fre/metahand/right/scoopspoon/scene_eq.xml
CHANGED
|
@@ -1,5 +1,5 @@
|
|
| 1 |
<mujoco model="metahand_right">
|
| 2 |
-
<compiler angle="radian" meshdir="
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
<flag eulerdamp="disable"/>
|
|
@@ -276,21 +276,21 @@
|
|
| 276 |
</body>
|
| 277 |
<body name="right_object">
|
| 278 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 279 |
-
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_0"/>
|
| 280 |
-
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_1"/>
|
| 281 |
-
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_2"/>
|
| 282 |
-
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_3"/>
|
| 283 |
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<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_4"/>
|
| 284 |
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<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_5"/>
|
| 285 |
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<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_6"/>
|
| 286 |
-
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1" mesh="right_7"/>
|
| 287 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 288 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 289 |
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 290 |
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<site name="track_object_right_thumb_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
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<site name="track_object_right_index_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
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<site name="track_object_right_middle_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 293 |
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<site name="track_object_right_ring_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 294 |
</body>
|
| 295 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 296 |
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|
|
|
|
| 1 |
<mujoco model="metahand_right">
|
| 2 |
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<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
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|
|
|
|
| 276 |
</body>
|
| 277 |
<body name="right_object">
|
| 278 |
<joint name="right_object_joint" type="free" limited="false" actuatorfrclimited="false" armature="0.0001" frictionloss="0.0001"/>
|
| 279 |
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|
| 280 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_1"/>
|
| 281 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_2"/>
|
| 282 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_3"/>
|
| 283 |
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<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_4"/>
|
| 284 |
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|
| 285 |
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<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_6"/>
|
| 286 |
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<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" density="100" rgba="0 1 0 1" mesh="right_7"/>
|
| 287 |
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 288 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box" rgba="1 0 0 1"/>
|
| 289 |
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|
| 290 |
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<site name="track_object_right_thumb_tip" pos="-0.0181631 -0.00616439 -0.0154776" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 291 |
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<site name="track_object_right_index_tip" pos="0.0100376 -0.00737148 -0.0193491" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 292 |
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|
| 293 |
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|
| 294 |
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|
| 295 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 296 |
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|
processed/fair_fre/metahand/right/scoopspoon/task_info.json
CHANGED
|
@@ -6,5 +6,6 @@
|
|
| 6 |
"data_id": 2,
|
| 7 |
"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon",
|
| 8 |
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon/convex",
|
| 9 |
-
"left_object_mesh_dir": null
|
|
|
|
| 10 |
}
|
|
|
|
| 6 |
"data_id": 2,
|
| 7 |
"right_object_mesh_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon",
|
| 8 |
"right_object_convex_dir": "/home/pcy/Research/code/retarget/example_datasets/processed/fair_fre/assets/objects/spoon/convex",
|
| 9 |
+
"left_object_mesh_dir": null,
|
| 10 |
+
"left_object_convex_dir": null
|
| 11 |
}
|
processed/fair_mon/metahand/right/cat/0/trajectory_mjwp.npz
CHANGED
|
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CHANGED
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processed/fair_mon/metahand/right/coke/0/trajectory_mjwp.npz
CHANGED
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