jc-bao
commited on
Commit
·
e7f3d4a
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Parent(s):
9519e80
:zap: add human-object interaction demo
Browse filesThis view is limited to 50 files because it contains too many changes.
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- processed/amass/booster_t1/humanoid/skip/0/trajectory_mjwp.npz +1 -1
- processed/amass/booster_t1/humanoid/skip/0/visualization_mjwp.mp4 +2 -2
- processed/amass/booster_t1/humanoid/sprint/0/trajectory_mjwp.npz +1 -1
- processed/amass/booster_t1/humanoid/sprint/0/visualization_mjwp.mp4 +2 -2
- processed/amass/fourier_n1/humanoid/run_back/0/trajectory_mjwp.npz +1 -1
- processed/amass/fourier_n1/humanoid/run_back/0/visualization_mjwp.mp4 +2 -2
- processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz +1 -1
- processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4 +2 -2
- processed/{oakink/allegro/bimanual/move_suitcase/0/trajectory_hdmi.npz → amass/unitree_g1/humanoid/sprint/1/trajectory_kinematic.npz} +2 -2
- processed/amass/unitree_g1/humanoid/sprint/1/trajectory_mjwp.npz +3 -0
- processed/amass/unitree_g1/humanoid/sprint/1/visualization_mjwp.mp4 +3 -0
- processed/amass/unitree_g1/humanoid/sprint/scene.xml +1 -1
- processed/amass/unitree_h1_2/humanoid/kick/0/trajectory_mjwp.npz +1 -1
- processed/amass/unitree_h1_2/humanoid/kick/0/visualization_mjwp.mp4 +2 -2
- processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz +1 -1
- processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz +2 -2
- processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4 +2 -2
- processed/fair_mon/allegro/right/cat/scene.xml +470 -319
- processed/{hdmi/unitree_g1/humanoid/move_suitcase → fair_mon/allegro/right/coke}/1/trajectory_kinematic.npz +2 -2
- processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz +2 -2
- processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4 +2 -2
- processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwp.npz +2 -2
- processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwp.mp4 +2 -2
- processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwp.npz +2 -2
- processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwp.mp4 +2 -2
- processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwp.npz +2 -2
- processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwp.mp4 +2 -2
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/0/trajectory_hdmi.npz +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/0/trajectory_kinematic.npz +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/0/visualization_hdmi.mp4 +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/1/trajectory_hdmi.npz +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/1/trajectory_kinematic.npz +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/1/visualization_hdmi.mp4 +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/scene.zip +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/0/trajectory_hdmi.npz +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/0/trajectory_kinematic.npz +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/0/visualization_hdmi.mp4 +0 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/1/trajectory_hdmi.npz +2 -2
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/1/trajectory_kinematic.npz +3 -0
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/1/visualization_hdmi.mp4 +2 -2
- processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/scene.zip +0 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/mjlab scene.xml +572 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/head_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_ankle_pitch_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_ankle_roll_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_elbow_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_index_0_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_index_1_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_middle_0_link.STL +3 -0
- processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_middle_1_link.STL +3 -0
processed/amass/booster_t1/humanoid/skip/0/trajectory_mjwp.npz
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processed/amass/booster_t1/humanoid/skip/0/visualization_mjwp.mp4
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processed/amass/booster_t1/humanoid/sprint/0/trajectory_mjwp.npz
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processed/amass/booster_t1/humanoid/sprint/0/visualization_mjwp.mp4
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processed/amass/fourier_n1/humanoid/run_back/0/trajectory_mjwp.npz
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processed/amass/fourier_n1/humanoid/run_back/0/visualization_mjwp.mp4
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processed/amass/unitree_g1/humanoid/sprint/0/trajectory_mjwp.npz
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processed/amass/unitree_g1/humanoid/sprint/0/visualization_mjwp.mp4
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processed/{oakink/allegro/bimanual/move_suitcase/0/trajectory_hdmi.npz → amass/unitree_g1/humanoid/sprint/1/trajectory_kinematic.npz}
RENAMED
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processed/amass/unitree_g1/humanoid/sprint/1/trajectory_mjwp.npz
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processed/amass/unitree_g1/humanoid/sprint/1/visualization_mjwp.mp4
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size 475425
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processed/amass/unitree_g1/humanoid/sprint/scene.xml
CHANGED
|
@@ -2,7 +2,7 @@
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<compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
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<!-- performance options -->
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-
<option timestep="0.02" iterations="2" ls_iterations="10">
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<flag eulerdamp="disable" />
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</option>
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<compiler angle="radian" meshdir="../../../assets/robots/unitree_g1/meshes" autolimits="true" />
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<!-- performance options -->
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+
<option timestep="0.02" iterations="2" ls_iterations="10" gravity="0 0 -9.81">
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<flag eulerdamp="disable" />
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</option>
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processed/amass/unitree_h1_2/humanoid/kick/0/trajectory_mjwp.npz
CHANGED
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@@ -1,3 +1,3 @@
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processed/amass/unitree_h1_2/humanoid/kick/0/visualization_mjwp.mp4
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processed/fair_mon/allegro/right/cat/0/trajectory_kinematic.npz
CHANGED
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size 17388
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processed/fair_mon/allegro/right/cat/0/trajectory_mjwp.npz
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processed/fair_mon/allegro/right/cat/0/visualization_mjwp.mp4
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size 69596
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processed/fair_mon/allegro/right/cat/scene.xml
CHANGED
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@@ -1,268 +1,291 @@
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<mujoco model="allegro_right">
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-
<compiler angle="radian" meshdir="../../../assets/"/>
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<option timestep="0.01" iterations="10">
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-
<flag eulerdamp="disable"/>
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</option>
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<visual>
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-
<global azimuth="140" elevation="-20"/>
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-
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9"/>
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-
<rgba haze="0.15 0.25 0.35 1"/>
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</visual>
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<default>
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<default class="mimic_right">
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| 16 |
-
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1"/>
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</default>
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<default class="allegro_right">
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-
<joint armature="1"/>
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-
<geom density="800"/>
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-
<general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
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<default class="right_visual">
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-
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black"/>
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<default class="right_palm_visual">
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-
<geom mesh="right_base_link"/>
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</default>
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<default class="right_base_visual">
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| 28 |
-
<geom mesh="right_link_0.0"/>
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</default>
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<default class="right_proximal_visual">
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| 31 |
-
<geom mesh="right_link_1.0"/>
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</default>
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<default class="right_medial_visual">
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-
<geom mesh="right_link_2.0"/>
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</default>
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<default class="right_distal_visual">
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| 37 |
-
<geom mesh="right_link_3.0"/>
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</default>
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<default class="right_fingertip_visual">
|
| 40 |
-
<geom material="right_white" mesh="right_link_3.0_tip"/>
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</default>
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<default class="right_thumbtip_visual">
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| 43 |
-
<geom material="right_white" mesh="right_link_15.0_tip"/>
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| 44 |
</default>
|
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</default>
|
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<default class="right_collision">
|
| 47 |
-
<geom type="box" contype="0" conaffinity="0" condim="1" group="3"/>
|
| 48 |
<default class="right_palm_collision">
|
| 49 |
-
<geom size="0.0204 0.0565 0.0475"/>
|
| 50 |
</default>
|
| 51 |
<default class="right_base_collision">
|
| 52 |
-
<geom size="0.0098 0.01375 0.0082"/>
|
| 53 |
<default class="right_thumb_base_collision">
|
| 54 |
-
<geom size="0.0179 0.017 0.02275"/>
|
| 55 |
</default>
|
| 56 |
</default>
|
| 57 |
<default class="right_proximal_collision">
|
| 58 |
-
<geom size="0.0098 0.01375 0.027"/>
|
| 59 |
<default class="right_thumb_proximal_collision">
|
| 60 |
-
<geom size="0.0098 0.01375 0.00885"/>
|
| 61 |
</default>
|
| 62 |
</default>
|
| 63 |
<default class="right_medial_collision">
|
| 64 |
-
<geom size="0.0098 0.01375 0.0192"/>
|
| 65 |
<default class="right_thumb_medial_collision">
|
| 66 |
-
<geom size="0.0098 0.01375 0.0257"/>
|
| 67 |
</default>
|
| 68 |
</default>
|
| 69 |
<default class="right_distal_collision">
|
| 70 |
-
<geom size="0.0098 0.01375 0.008"/>
|
| 71 |
<default class="right_thumb_distal_collision">
|
| 72 |
-
<geom size="0.0098 0.01375 0.0157"/>
|
| 73 |
</default>
|
| 74 |
</default>
|
| 75 |
<default class="right_fingertip_collision">
|
| 76 |
-
<geom size="0.012 0.01 0" type="capsule"/>
|
| 77 |
<default class="right_thumbtip_collision">
|
| 78 |
-
<geom size="0.012 0.008 0"/>
|
| 79 |
</default>
|
| 80 |
</default>
|
| 81 |
</default>
|
| 82 |
<default class="right_base_slide">
|
| 83 |
-
<joint type="slide" range="-3 3"/>
|
| 84 |
-
<general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000"/>
|
| 85 |
</default>
|
| 86 |
<default class="right_base_hinge">
|
| 87 |
-
<joint range="-6.28 6.28"/>
|
| 88 |
-
<general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000"/>
|
| 89 |
</default>
|
| 90 |
<default class="right_base">
|
| 91 |
-
<joint range="-0.47 0.47"/>
|
| 92 |
-
<general ctrlrange="-0.47 0.47"/>
|
| 93 |
</default>
|
| 94 |
<default class="right_proximal">
|
| 95 |
-
<joint range="0.196 1.61"/>
|
| 96 |
-
<general ctrlrange="0.196 1.61"/>
|
| 97 |
</default>
|
| 98 |
<default class="right_medial">
|
| 99 |
-
<joint range="0.174 1.709"/>
|
| 100 |
-
<general ctrlrange="0.174 1.709"/>
|
| 101 |
</default>
|
| 102 |
<default class="right_distal">
|
| 103 |
-
<joint range="0.227 1.618"/>
|
| 104 |
-
<general ctrlrange="0.227 1.618"/>
|
| 105 |
</default>
|
| 106 |
<default class="right_thumb_base">
|
| 107 |
-
<joint range="0.263 1.396"/>
|
| 108 |
-
<general ctrlrange="0.263 1.396"/>
|
| 109 |
</default>
|
| 110 |
<default class="right_thumb_proximal">
|
| 111 |
-
<joint range="0.105 1.163"/>
|
| 112 |
-
<general ctrlrange="0.105 1.163"/>
|
| 113 |
</default>
|
| 114 |
<default class="right_thumb_medial">
|
| 115 |
-
<joint range="0.189 1.644"/>
|
| 116 |
-
<general ctrlrange="0.189 1.644"/>
|
| 117 |
</default>
|
| 118 |
<default class="right_thumb_distal">
|
| 119 |
-
<joint range="0.162 1.719"/>
|
| 120 |
-
<general ctrlrange="0.162 1.719"/>
|
| 121 |
</default>
|
| 122 |
</default>
|
| 123 |
</default>
|
| 124 |
|
| 125 |
<asset>
|
| 126 |
-
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="
|
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|
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<texture type="
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<
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<
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<
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<
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<
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<
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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<mesh name="
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-
<mesh name="
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</asset>
|
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<worldbody>
|
| 157 |
-
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 158 |
-
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
|
| 159 |
-
|
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|
|
| 160 |
<body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
|
| 161 |
-
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0"/>
|
| 162 |
-
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0"/>
|
| 163 |
-
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1"/>
|
| 164 |
-
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0"/>
|
| 165 |
-
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0"/>
|
| 166 |
-
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1"/>
|
| 167 |
-
<geom class="right_palm_visual" mesh="right_base_link"/>
|
| 168 |
-
<geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475"
|
| 169 |
-
|
| 170 |
-
<
|
|
|
|
| 171 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 172 |
-
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 173 |
-
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 174 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 175 |
-
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 176 |
-
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 177 |
-
<geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027"
|
|
|
|
| 178 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 179 |
-
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 180 |
-
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 181 |
-
<geom name="collision_hand_right_index_1" class="right_medial_collision"
|
|
|
|
| 182 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 183 |
-
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 184 |
-
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 185 |
<body name="right_ff_tip">
|
| 186 |
-
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 187 |
-
<geom name="collision_hand_right_index_0" class="right_fingertip_collision"
|
| 188 |
-
|
| 189 |
-
<site name="
|
| 190 |
-
<site name="
|
|
|
|
| 191 |
</body>
|
| 192 |
</body>
|
| 193 |
</body>
|
| 194 |
</body>
|
| 195 |
</body>
|
| 196 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 197 |
-
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 198 |
-
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 199 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 200 |
-
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 201 |
-
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 202 |
-
<geom name="collision_hand_right_middle_2" class="right_proximal_collision"
|
|
|
|
| 203 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 204 |
-
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 205 |
-
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 206 |
-
<geom name="collision_hand_right_middle_1" class="right_medial_collision"
|
|
|
|
| 207 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 208 |
-
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 209 |
-
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 210 |
<body name="right_mf_tip">
|
| 211 |
-
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 212 |
-
<geom name="collision_hand_right_middle_0" class="right_fingertip_collision"
|
| 213 |
-
|
| 214 |
-
<site name="
|
| 215 |
-
<site name="
|
|
|
|
| 216 |
</body>
|
| 217 |
</body>
|
| 218 |
</body>
|
| 219 |
</body>
|
| 220 |
</body>
|
| 221 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 222 |
-
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1"/>
|
| 223 |
-
<geom class="right_base_visual" mesh="right_link_0.0"/>
|
| 224 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 225 |
-
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0"/>
|
| 226 |
-
<geom class="right_proximal_visual" mesh="right_link_1.0"/>
|
| 227 |
-
<geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027"
|
|
|
|
| 228 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 229 |
-
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0"/>
|
| 230 |
-
<geom class="right_medial_visual" mesh="right_link_2.0"/>
|
| 231 |
-
<geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192"
|
|
|
|
| 232 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 233 |
-
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0"/>
|
| 234 |
-
<geom class="right_distal_visual" mesh="right_link_3.0"/>
|
| 235 |
<body name="right_rf_tip">
|
| 236 |
-
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip"/>
|
| 237 |
-
<geom name="collision_hand_right_ring_0" class="right_fingertip_collision"
|
| 238 |
-
|
| 239 |
-
<site name="
|
| 240 |
-
<site name="
|
|
|
|
| 241 |
</body>
|
| 242 |
</body>
|
| 243 |
</body>
|
| 244 |
</body>
|
| 245 |
</body>
|
| 246 |
-
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
|
| 247 |
-
|
| 248 |
-
<
|
|
|
|
| 249 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 250 |
-
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0"
|
| 251 |
-
|
|
|
|
| 252 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 253 |
-
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0"
|
| 254 |
-
|
| 255 |
-
<geom
|
|
|
|
|
|
|
| 256 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 257 |
-
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0"
|
| 258 |
-
|
| 259 |
-
<geom
|
|
|
|
|
|
|
| 260 |
<body name="right_th_tip">
|
| 261 |
-
<geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip"/>
|
| 262 |
-
<geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision"
|
| 263 |
-
|
| 264 |
-
<site name="
|
| 265 |
-
<site name="
|
|
|
|
| 266 |
</body>
|
| 267 |
</body>
|
| 268 |
</body>
|
|
@@ -270,196 +293,324 @@
|
|
| 270 |
</body>
|
| 271 |
</body>
|
| 272 |
<body name="right_object">
|
| 273 |
-
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 274 |
-
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 275 |
-
|
| 276 |
-
<geom name="
|
| 277 |
-
|
| 278 |
-
<geom name="
|
| 279 |
-
|
| 280 |
-
<geom name="
|
| 281 |
-
|
| 282 |
-
<geom name="
|
| 283 |
-
|
| 284 |
-
<
|
| 285 |
-
|
| 286 |
-
<
|
| 287 |
-
|
| 288 |
-
<
|
|
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|
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|
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|
|
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|
|
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|
|
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|
|
|
|
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|
|
|
|
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|
|
|
|
| 289 |
</body>
|
| 290 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 291 |
-
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 292 |
</body>
|
| 293 |
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 294 |
-
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 295 |
</body>
|
| 296 |
<body name="ref_object_right_index_tip" mocap="true">
|
| 297 |
-
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 298 |
</body>
|
| 299 |
<body name="ref_hand_right_index_tip" mocap="true">
|
| 300 |
-
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 301 |
</body>
|
| 302 |
<body name="ref_object_right_middle_tip" mocap="true">
|
| 303 |
-
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 304 |
</body>
|
| 305 |
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 306 |
-
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 307 |
</body>
|
| 308 |
<body name="ref_object_right_ring_tip" mocap="true">
|
| 309 |
-
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 310 |
</body>
|
| 311 |
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 312 |
-
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 313 |
</body>
|
| 314 |
</worldbody>
|
| 315 |
|
| 316 |
<contact>
|
| 317 |
-
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 318 |
-
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 319 |
-
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 320 |
-
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 321 |
-
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 322 |
-
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 323 |
-
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 324 |
-
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 325 |
-
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0"
|
| 326 |
-
|
| 327 |
-
<pair geom1="collision_hand_right_palm_0" geom2="
|
| 328 |
-
|
| 329 |
-
<pair geom1="collision_hand_right_palm_0" geom2="
|
| 330 |
-
|
| 331 |
-
<pair geom1="collision_hand_right_palm_0" geom2="
|
| 332 |
-
|
| 333 |
-
<pair geom1="collision_hand_right_palm_0" geom2="
|
| 334 |
-
|
| 335 |
-
<pair geom1="collision_hand_right_palm_0" geom2="
|
| 336 |
-
|
| 337 |
-
<pair geom1="
|
| 338 |
-
|
| 339 |
-
<pair geom1="
|
| 340 |
-
|
| 341 |
-
<pair geom1="
|
| 342 |
-
|
| 343 |
-
<pair geom1="
|
| 344 |
-
|
| 345 |
-
<pair geom1="
|
| 346 |
-
|
| 347 |
-
<pair geom1="
|
| 348 |
-
|
| 349 |
-
<pair geom1="
|
| 350 |
-
|
| 351 |
-
<pair geom1="
|
| 352 |
-
|
| 353 |
-
<pair geom1="
|
| 354 |
-
|
| 355 |
-
<pair geom1="
|
| 356 |
-
|
| 357 |
-
<pair geom1="
|
| 358 |
-
|
| 359 |
-
<pair geom1="
|
| 360 |
-
|
| 361 |
-
<pair geom1="
|
| 362 |
-
|
| 363 |
-
<pair geom1="
|
| 364 |
-
|
| 365 |
-
<pair geom1="
|
| 366 |
-
|
| 367 |
-
<pair geom1="
|
| 368 |
-
|
| 369 |
-
<pair geom1="
|
| 370 |
-
|
| 371 |
-
<pair geom1="
|
| 372 |
-
|
| 373 |
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<pair geom1="
|
| 374 |
-
|
| 375 |
-
<pair geom1="
|
| 376 |
-
|
| 377 |
-
<pair geom1="
|
| 378 |
-
|
| 379 |
-
<pair geom1="
|
| 380 |
-
|
| 381 |
-
<pair geom1="
|
| 382 |
-
|
| 383 |
-
<pair geom1="
|
| 384 |
-
|
| 385 |
-
<pair geom1="
|
| 386 |
-
|
| 387 |
-
<pair geom1="
|
| 388 |
-
|
| 389 |
-
<pair geom1="
|
| 390 |
-
|
| 391 |
-
<pair geom1="
|
| 392 |
-
|
| 393 |
-
<pair geom1="
|
| 394 |
-
|
| 395 |
-
<pair geom1="
|
| 396 |
-
|
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-
<pair geom1="
|
| 398 |
-
|
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<pair geom1="
|
| 400 |
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|
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<pair geom1="
|
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-
|
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<pair geom1="
|
| 404 |
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|
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-
<pair geom1="
|
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-
|
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<pair geom1="
|
| 408 |
-
|
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-
<pair geom1="
|
| 410 |
-
|
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-
<pair geom1="
|
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-
|
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-
<pair geom1="
|
| 414 |
-
|
| 415 |
-
<pair geom1="
|
| 416 |
-
|
| 417 |
-
<pair geom1="
|
| 418 |
-
|
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-
<pair geom1="
|
| 420 |
-
|
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-
<pair geom1="
|
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-
|
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-
<pair geom1="
|
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|
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<pair geom1="
|
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|
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<pair geom1="
|
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|
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<pair geom1="
|
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|
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<pair geom1="
|
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|
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<pair geom1="
|
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<pair geom1="
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 439 |
</contact>
|
| 440 |
|
| 441 |
<actuator>
|
| 442 |
-
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x"/>
|
| 443 |
-
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y"/>
|
| 444 |
-
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z"/>
|
| 445 |
-
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x"/>
|
| 446 |
-
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y"/>
|
| 447 |
-
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z"/>
|
| 448 |
-
<general name="right_ffa0" class="right_base" joint="right_index_base_joint"/>
|
| 449 |
-
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint"/>
|
| 450 |
-
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint"/>
|
| 451 |
-
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint"/>
|
| 452 |
-
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint"/>
|
| 453 |
-
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint"/>
|
| 454 |
-
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint"/>
|
| 455 |
-
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint"/>
|
| 456 |
-
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint"/>
|
| 457 |
-
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint"/>
|
| 458 |
-
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint"/>
|
| 459 |
-
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint"/>
|
| 460 |
-
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint"/>
|
| 461 |
-
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint"/>
|
| 462 |
-
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint"/>
|
| 463 |
-
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint"/>
|
| 464 |
</actuator>
|
| 465 |
</mujoco>
|
|
|
|
| 1 |
<mujoco model="allegro_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/" />
|
| 3 |
|
| 4 |
<option timestep="0.01" iterations="10">
|
| 5 |
+
<flag eulerdamp="disable" />
|
| 6 |
</option>
|
| 7 |
|
| 8 |
<visual>
|
| 9 |
+
<global azimuth="140" elevation="-20" />
|
| 10 |
+
<headlight diffuse="0.6 0.6 0.6" specular="0.9 0.9 0.9" />
|
| 11 |
+
<rgba haze="0.15 0.25 0.35 1" />
|
| 12 |
</visual>
|
| 13 |
|
| 14 |
<default>
|
| 15 |
<default class="mimic_right">
|
| 16 |
+
<site size="0.015 0.005 0.005" group="3" rgba="1 0 0 1" />
|
| 17 |
</default>
|
| 18 |
<default class="allegro_right">
|
| 19 |
+
<joint armature="1" />
|
| 20 |
+
<geom density="800" />
|
| 21 |
+
<general biastype="affine" gainprm="300" biasprm="0 -300 1" />
|
| 22 |
<default class="right_visual">
|
| 23 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" material="right_black" />
|
| 24 |
<default class="right_palm_visual">
|
| 25 |
+
<geom mesh="right_base_link" />
|
| 26 |
</default>
|
| 27 |
<default class="right_base_visual">
|
| 28 |
+
<geom mesh="right_link_0.0" />
|
| 29 |
</default>
|
| 30 |
<default class="right_proximal_visual">
|
| 31 |
+
<geom mesh="right_link_1.0" />
|
| 32 |
</default>
|
| 33 |
<default class="right_medial_visual">
|
| 34 |
+
<geom mesh="right_link_2.0" />
|
| 35 |
</default>
|
| 36 |
<default class="right_distal_visual">
|
| 37 |
+
<geom mesh="right_link_3.0" />
|
| 38 |
</default>
|
| 39 |
<default class="right_fingertip_visual">
|
| 40 |
+
<geom material="right_white" mesh="right_link_3.0_tip" />
|
| 41 |
</default>
|
| 42 |
<default class="right_thumbtip_visual">
|
| 43 |
+
<geom material="right_white" mesh="right_link_15.0_tip" />
|
| 44 |
</default>
|
| 45 |
</default>
|
| 46 |
<default class="right_collision">
|
| 47 |
+
<geom type="box" contype="0" conaffinity="0" condim="1" group="3" />
|
| 48 |
<default class="right_palm_collision">
|
| 49 |
+
<geom size="0.0204 0.0565 0.0475" />
|
| 50 |
</default>
|
| 51 |
<default class="right_base_collision">
|
| 52 |
+
<geom size="0.0098 0.01375 0.0082" />
|
| 53 |
<default class="right_thumb_base_collision">
|
| 54 |
+
<geom size="0.0179 0.017 0.02275" />
|
| 55 |
</default>
|
| 56 |
</default>
|
| 57 |
<default class="right_proximal_collision">
|
| 58 |
+
<geom size="0.0098 0.01375 0.027" />
|
| 59 |
<default class="right_thumb_proximal_collision">
|
| 60 |
+
<geom size="0.0098 0.01375 0.00885" />
|
| 61 |
</default>
|
| 62 |
</default>
|
| 63 |
<default class="right_medial_collision">
|
| 64 |
+
<geom size="0.0098 0.01375 0.0192" />
|
| 65 |
<default class="right_thumb_medial_collision">
|
| 66 |
+
<geom size="0.0098 0.01375 0.0257" />
|
| 67 |
</default>
|
| 68 |
</default>
|
| 69 |
<default class="right_distal_collision">
|
| 70 |
+
<geom size="0.0098 0.01375 0.008" />
|
| 71 |
<default class="right_thumb_distal_collision">
|
| 72 |
+
<geom size="0.0098 0.01375 0.0157" />
|
| 73 |
</default>
|
| 74 |
</default>
|
| 75 |
<default class="right_fingertip_collision">
|
| 76 |
+
<geom size="0.012 0.01 0" type="capsule" />
|
| 77 |
<default class="right_thumbtip_collision">
|
| 78 |
+
<geom size="0.012 0.008 0" />
|
| 79 |
</default>
|
| 80 |
</default>
|
| 81 |
</default>
|
| 82 |
<default class="right_base_slide">
|
| 83 |
+
<joint type="slide" range="-3 3" />
|
| 84 |
+
<general ctrlrange="-3 3" gainprm="1000" biasprm="0 -1000" />
|
| 85 |
</default>
|
| 86 |
<default class="right_base_hinge">
|
| 87 |
+
<joint range="-6.28 6.28" />
|
| 88 |
+
<general ctrlrange="-6.28 6.28" gainprm="1000" biasprm="0 -1000" />
|
| 89 |
</default>
|
| 90 |
<default class="right_base">
|
| 91 |
+
<joint range="-0.47 0.47" />
|
| 92 |
+
<general ctrlrange="-0.47 0.47" />
|
| 93 |
</default>
|
| 94 |
<default class="right_proximal">
|
| 95 |
+
<joint range="0.196 1.61" />
|
| 96 |
+
<general ctrlrange="0.196 1.61" />
|
| 97 |
</default>
|
| 98 |
<default class="right_medial">
|
| 99 |
+
<joint range="0.174 1.709" />
|
| 100 |
+
<general ctrlrange="0.174 1.709" />
|
| 101 |
</default>
|
| 102 |
<default class="right_distal">
|
| 103 |
+
<joint range="0.227 1.618" />
|
| 104 |
+
<general ctrlrange="0.227 1.618" />
|
| 105 |
</default>
|
| 106 |
<default class="right_thumb_base">
|
| 107 |
+
<joint range="0.263 1.396" />
|
| 108 |
+
<general ctrlrange="0.263 1.396" />
|
| 109 |
</default>
|
| 110 |
<default class="right_thumb_proximal">
|
| 111 |
+
<joint range="0.105 1.163" />
|
| 112 |
+
<general ctrlrange="0.105 1.163" />
|
| 113 |
</default>
|
| 114 |
<default class="right_thumb_medial">
|
| 115 |
+
<joint range="0.189 1.644" />
|
| 116 |
+
<general ctrlrange="0.189 1.644" />
|
| 117 |
</default>
|
| 118 |
<default class="right_thumb_distal">
|
| 119 |
+
<joint range="0.162 1.719" />
|
| 120 |
+
<general ctrlrange="0.162 1.719" />
|
| 121 |
</default>
|
| 122 |
</default>
|
| 123 |
</default>
|
| 124 |
|
| 125 |
<asset>
|
| 126 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2=" 1 1 1"
|
| 127 |
+
width="512" height="3072" />
|
| 128 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge"
|
| 129 |
+
rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300" />
|
| 130 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="1 1 1"
|
| 131 |
+
rgb2="1 1 1" width="512" height="3072" />
|
| 132 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
|
| 133 |
+
rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="1800" />
|
| 134 |
+
<material name="right_black" rgba="0.2 0.2 0.2 1" />
|
| 135 |
+
<material name="right_white" rgba="0.9 0.9 0.9 1" />
|
| 136 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5"
|
| 137 |
+
reflectance="0.2" />
|
| 138 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2" />
|
| 139 |
+
<mesh name="right_base_link" file="robots/allegro/assets/base_link.stl" />
|
| 140 |
+
<mesh name="right_link_0.0" file="robots/allegro/assets/link_0.0.stl" />
|
| 141 |
+
<mesh name="right_link_1.0" file="robots/allegro/assets/link_1.0.stl" />
|
| 142 |
+
<mesh name="right_link_2.0" file="robots/allegro/assets/link_2.0.stl" />
|
| 143 |
+
<mesh name="right_link_3.0" file="robots/allegro/assets/link_3.0.stl" />
|
| 144 |
+
<mesh name="right_link_3.0_tip" file="robots/allegro/assets/link_3.0_tip.stl" />
|
| 145 |
+
<mesh name="right_link_12.0_right" file="robots/allegro/assets/link_12.0_right.stl" />
|
| 146 |
+
<mesh name="right_link_13.0" file="robots/allegro/assets/link_13.0.stl" />
|
| 147 |
+
<mesh name="right_link_14.0" file="robots/allegro/assets/link_14.0.stl" />
|
| 148 |
+
<mesh name="right_link_15.0" file="robots/allegro/assets/link_15.0.stl" />
|
| 149 |
+
<mesh name="right_link_15.0_tip" file="robots/allegro/assets/link_15.0_tip.stl" />
|
| 150 |
+
<mesh name="right_0" file="objects/cat/convex/0.obj" />
|
| 151 |
+
<mesh name="right_1" file="objects/cat/convex/1.obj" />
|
| 152 |
+
<mesh name="right_2" file="objects/cat/convex/2.obj" />
|
| 153 |
+
<mesh name="right_3" file="objects/cat/convex/3.obj" />
|
| 154 |
+
<mesh name="right_4" file="objects/cat/convex/4.obj" />
|
| 155 |
+
<mesh name="right_5" file="objects/cat/convex/5.obj" />
|
| 156 |
+
<mesh name="right_6" file="objects/cat/convex/6.obj" />
|
| 157 |
+
<mesh name="right_7" file="objects/cat/convex/7.obj" />
|
| 158 |
+
<mesh name="right_visual" file="objects/cat/visual.obj" />
|
| 159 |
</asset>
|
| 160 |
|
| 161 |
<worldbody>
|
| 162 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane" />
|
| 163 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901"
|
| 164 |
+
mode="trackcom" />
|
| 165 |
+
<light pos="0 0 3.5" dir="0 0 -1" />
|
| 166 |
<body name="right_palm" childclass="allegro_right" quat="0 0 0.707107 -0.707107" gravcomp="1">
|
| 167 |
+
<joint name="right_pos_x" class="right_base_slide" pos="0 0 0" axis="1 0 0" />
|
| 168 |
+
<joint name="right_pos_y" class="right_base_slide" pos="0 0 0" axis="0 1 0" />
|
| 169 |
+
<joint name="right_pos_z" class="right_base_slide" pos="0 0 0" axis="0 0 1" />
|
| 170 |
+
<joint name="right_rot_x" class="right_base_hinge" pos="0 0 0" axis="1 0 0" />
|
| 171 |
+
<joint name="right_rot_y" class="right_base_hinge" pos="0 0 0" axis="0 1 0" />
|
| 172 |
+
<joint name="right_rot_z" class="right_base_hinge" pos="0 0 0" axis="0 0 1" />
|
| 173 |
+
<geom class="right_palm_visual" mesh="right_base_link" />
|
| 174 |
+
<geom name="collision_hand_right_palm_0" class="right_palm_collision" pos="-0.0093 0 -0.0475"
|
| 175 |
+
mass="0" />
|
| 176 |
+
<site name="right_palm" class="mimic_right" pos="0 0 0" size="0.01 0.02 0.03" type="box" />
|
| 177 |
+
<camera name="right_track" pos="0.868 -0.348 -0.175" quat="0.506363 0.51196 0.493349 0.487956" />
|
| 178 |
<body name="right_ff_base" pos="0 0.0435 -0.001542" quat="0.999048 -0.0436194 0 0">
|
| 179 |
+
<joint name="right_index_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
|
| 180 |
+
<geom class="right_base_visual" mesh="right_link_0.0" />
|
| 181 |
<body name="right_ff_proximal" pos="0 0 0.0164">
|
| 182 |
+
<joint name="right_index_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
|
| 183 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0" />
|
| 184 |
+
<geom name="collision_hand_right_index_2" class="right_proximal_collision" pos="0 0 0.027"
|
| 185 |
+
mass="0" />
|
| 186 |
<body name="right_ff_medial" pos="0 0 0.054">
|
| 187 |
+
<joint name="right_index_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
|
| 188 |
+
<geom class="right_medial_visual" mesh="right_link_2.0" />
|
| 189 |
+
<geom name="collision_hand_right_index_1" class="right_medial_collision"
|
| 190 |
+
pos="0 0 0.0192" mass="0" />
|
| 191 |
<body name="right_ff_distal" pos="0 0 0.0384">
|
| 192 |
+
<joint name="right_index_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
|
| 193 |
+
<geom class="right_distal_visual" mesh="right_link_3.0" />
|
| 194 |
<body name="right_ff_tip">
|
| 195 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
|
| 196 |
+
<geom name="collision_hand_right_index_0" class="right_fingertip_collision"
|
| 197 |
+
pos="0 0 0.019" mass="0" />
|
| 198 |
+
<site name="right_index_tip" class="mimic_right" pos="0 0 0.019" />
|
| 199 |
+
<site name="track_hand_right_index_tip" class="mimic_right" pos="0 0 0.019" />
|
| 200 |
+
<site name="trace_right_index_tip" class="mimic_right" pos="0 0 0.019" />
|
| 201 |
</body>
|
| 202 |
</body>
|
| 203 |
</body>
|
| 204 |
</body>
|
| 205 |
</body>
|
| 206 |
<body name="right_mf_base" pos="0 0 0.0007">
|
| 207 |
+
<joint name="right_middle_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
|
| 208 |
+
<geom class="right_base_visual" mesh="right_link_0.0" />
|
| 209 |
<body name="right_mf_proximal" pos="0 0 0.0164">
|
| 210 |
+
<joint name="right_middle_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
|
| 211 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0" />
|
| 212 |
+
<geom name="collision_hand_right_middle_2" class="right_proximal_collision"
|
| 213 |
+
pos="0 0 0.027" mass="0" />
|
| 214 |
<body name="right_mf_medial" pos="0 0 0.054">
|
| 215 |
+
<joint name="right_middle_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
|
| 216 |
+
<geom class="right_medial_visual" mesh="right_link_2.0" />
|
| 217 |
+
<geom name="collision_hand_right_middle_1" class="right_medial_collision"
|
| 218 |
+
pos="0 0 0.0192" mass="0" />
|
| 219 |
<body name="right_mf_distal" pos="0 0 0.0384">
|
| 220 |
+
<joint name="right_middle_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
|
| 221 |
+
<geom class="right_distal_visual" mesh="right_link_3.0" />
|
| 222 |
<body name="right_mf_tip">
|
| 223 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
|
| 224 |
+
<geom name="collision_hand_right_middle_0" class="right_fingertip_collision"
|
| 225 |
+
pos="0 0 0.019" mass="0" />
|
| 226 |
+
<site name="right_middle_tip" class="mimic_right" pos="0 0 0.019" />
|
| 227 |
+
<site name="track_hand_right_middle_tip" class="mimic_right" pos="0 0 0.019" />
|
| 228 |
+
<site name="trace_right_middle_tip" class="mimic_right" pos="0 0 0.019" />
|
| 229 |
</body>
|
| 230 |
</body>
|
| 231 |
</body>
|
| 232 |
</body>
|
| 233 |
</body>
|
| 234 |
<body name="right_rf_base" pos="0 -0.0435 -0.001542" quat="0.999048 0.0436194 0 0">
|
| 235 |
+
<joint name="right_ring_base_joint" class="right_base" pos="0 0 0" axis="0 0 1" />
|
| 236 |
+
<geom class="right_base_visual" mesh="right_link_0.0" />
|
| 237 |
<body name="right_rf_proximal" pos="0 0 0.0164">
|
| 238 |
+
<joint name="right_ring_proximal_joint" class="right_proximal" pos="0 0 0" axis="0 1 0" />
|
| 239 |
+
<geom class="right_proximal_visual" mesh="right_link_1.0" />
|
| 240 |
+
<geom name="collision_hand_right_ring_2" class="right_proximal_collision" pos="0 0 0.027"
|
| 241 |
+
mass="0" />
|
| 242 |
<body name="right_rf_medial" pos="0 0 0.054">
|
| 243 |
+
<joint name="right_ring_medial_joint" class="right_medial" pos="0 0 0" axis="0 1 0" />
|
| 244 |
+
<geom class="right_medial_visual" mesh="right_link_2.0" />
|
| 245 |
+
<geom name="collision_hand_right_ring_1" class="right_medial_collision" pos="0 0 0.0192"
|
| 246 |
+
mass="0" />
|
| 247 |
<body name="right_rf_distal" pos="0 0 0.0384">
|
| 248 |
+
<joint name="right_ring_distal_joint" class="right_distal" pos="0 0 0" axis="0 1 0" />
|
| 249 |
+
<geom class="right_distal_visual" mesh="right_link_3.0" />
|
| 250 |
<body name="right_rf_tip">
|
| 251 |
+
<geom class="right_fingertip_visual" pos="0 0 0.0267" mesh="right_link_3.0_tip" />
|
| 252 |
+
<geom name="collision_hand_right_ring_0" class="right_fingertip_collision"
|
| 253 |
+
pos="0 0 0.019" mass="0" />
|
| 254 |
+
<site name="right_ring_tip" class="mimic_right" pos="0 0 0.019" />
|
| 255 |
+
<site name="track_hand_right_ring_tip" class="mimic_right" pos="0 0 0.019" />
|
| 256 |
+
<site name="trace_right_ring_tip" class="mimic_right" pos="0 0 0.019" />
|
| 257 |
</body>
|
| 258 |
</body>
|
| 259 |
</body>
|
| 260 |
</body>
|
| 261 |
</body>
|
| 262 |
+
<body name="right_th_base" pos="-0.0182 0.019333 -0.045987"
|
| 263 |
+
quat="0.477714 -0.521334 -0.521334 -0.477714">
|
| 264 |
+
<joint name="right_thumb_base_joint" class="right_thumb_base" pos="0 0 0" axis="-1 0 0" />
|
| 265 |
+
<geom class="right_visual" mesh="right_link_12.0_right" />
|
| 266 |
<body name="right_th_proximal" pos="-0.027 0.005 0.0399">
|
| 267 |
+
<joint name="right_thumb_proximal_joint" class="right_thumb_proximal" pos="0 0 0"
|
| 268 |
+
axis="0 0 1" />
|
| 269 |
+
<geom class="right_visual" mesh="right_link_13.0" />
|
| 270 |
<body name="right_th_medial" pos="0 0 0.0177">
|
| 271 |
+
<joint name="right_thumb_medial_joint" class="right_thumb_medial" pos="0 0 0"
|
| 272 |
+
axis="0 1 0" />
|
| 273 |
+
<geom class="right_visual" mesh="right_link_14.0" />
|
| 274 |
+
<geom name="collision_hand_right_thumb_2" class="right_thumb_medial_collision"
|
| 275 |
+
pos="0 0 0.0257" mass="0" />
|
| 276 |
<body name="right_th_distal" pos="0 0 0.0514">
|
| 277 |
+
<joint name="right_thumb_distal_joint" class="right_thumb_distal" pos="0 0 0"
|
| 278 |
+
axis="0 1 0" />
|
| 279 |
+
<geom class="right_visual" mesh="right_link_15.0" />
|
| 280 |
+
<geom name="collision_hand_right_thumb_1" class="right_thumb_distal_collision"
|
| 281 |
+
pos="0 0 0.0157" mass="0" />
|
| 282 |
<body name="right_th_tip">
|
| 283 |
+
<geom class="right_thumbtip_visual" pos="0 0 0.0423" mesh="right_link_15.0_tip" />
|
| 284 |
+
<geom name="collision_hand_right_thumb_0" class="right_thumbtip_collision"
|
| 285 |
+
pos="0 0 0.035" mass="0" />
|
| 286 |
+
<site name="right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
|
| 287 |
+
<site name="track_hand_right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
|
| 288 |
+
<site name="trace_right_thumb_tip" class="mimic_right" pos="0 0 0.035" />
|
| 289 |
</body>
|
| 290 |
</body>
|
| 291 |
</body>
|
|
|
|
| 293 |
</body>
|
| 294 |
</body>
|
| 295 |
<body name="right_object">
|
| 296 |
+
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001" />
|
| 297 |
+
<geom name="right_object_0" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 298 |
+
mesh="right_0" />
|
| 299 |
+
<geom name="right_object_1" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 300 |
+
mesh="right_1" />
|
| 301 |
+
<geom name="right_object_2" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 302 |
+
mesh="right_2" />
|
| 303 |
+
<geom name="right_object_3" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 304 |
+
mesh="right_3" />
|
| 305 |
+
<geom name="right_object_4" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 306 |
+
mesh="right_4" />
|
| 307 |
+
<geom name="right_object_5" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 308 |
+
mesh="right_5" />
|
| 309 |
+
<geom name="right_object_6" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 310 |
+
mesh="right_6" />
|
| 311 |
+
<geom name="right_object_7" type="mesh" contype="0" conaffinity="0" group="3" rgba="0 1 0 1"
|
| 312 |
+
mesh="right_7" />
|
| 313 |
+
<geom name="right_object_visual" type="mesh" contype="0" conaffinity="0" density="0"
|
| 314 |
+
rgba="1 1 1 1" mesh="right_visual" />
|
| 315 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" group="3" type="box"
|
| 316 |
+
rgba="1 0 0 1" />
|
| 317 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1" />
|
| 318 |
+
<site name="track_object_right_thumb_tip" pos="-0.0198564 -0.00972181 0.0182954" size="0.01"
|
| 319 |
+
group="4" rgba="0 1 0 1" />
|
| 320 |
+
<site name="track_object_right_index_tip" pos="-0.0173119 0.0155818 0.0197544" size="0.01"
|
| 321 |
+
group="4" rgba="0 1 0 1" />
|
| 322 |
+
<site name="track_object_right_middle_tip" pos="-0.00125278 0.029595 0.0379334" size="0.01"
|
| 323 |
+
group="4" rgba="0 1 0 1" />
|
| 324 |
+
<site name="track_object_right_ring_tip" pos="0.0160556 0.00668297 0.0416153" size="0.01"
|
| 325 |
+
group="4" rgba="0 1 0 1" />
|
| 326 |
</body>
|
| 327 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 328 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 329 |
</body>
|
| 330 |
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 331 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 332 |
</body>
|
| 333 |
<body name="ref_object_right_index_tip" mocap="true">
|
| 334 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 335 |
</body>
|
| 336 |
<body name="ref_hand_right_index_tip" mocap="true">
|
| 337 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 338 |
</body>
|
| 339 |
<body name="ref_object_right_middle_tip" mocap="true">
|
| 340 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 341 |
</body>
|
| 342 |
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 343 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 344 |
</body>
|
| 345 |
<body name="ref_object_right_ring_tip" mocap="true">
|
| 346 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 347 |
</body>
|
| 348 |
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 349 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1" />
|
| 350 |
</body>
|
| 351 |
</worldbody>
|
| 352 |
|
| 353 |
<contact>
|
| 354 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0" />
|
| 355 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0" />
|
| 356 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0" />
|
| 357 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0" />
|
| 358 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0" />
|
| 359 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0" />
|
| 360 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0" />
|
| 361 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0" />
|
| 362 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0"
|
| 363 |
+
name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0" />
|
| 364 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0"
|
| 365 |
+
name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0" />
|
| 366 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0"
|
| 367 |
+
name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0" />
|
| 368 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0"
|
| 369 |
+
name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
|
| 370 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_0"
|
| 371 |
+
name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0" />
|
| 372 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1"
|
| 373 |
+
name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0" />
|
| 374 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2"
|
| 375 |
+
name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0" />
|
| 376 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_3"
|
| 377 |
+
name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0" />
|
| 378 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_4"
|
| 379 |
+
name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0" />
|
| 380 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_5"
|
| 381 |
+
name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0" />
|
| 382 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_6"
|
| 383 |
+
name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0" />
|
| 384 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7"
|
| 385 |
+
name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0" />
|
| 386 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_0"
|
| 387 |
+
name="collision_hand_right_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0" />
|
| 388 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_1"
|
| 389 |
+
name="collision_hand_right_index_2_right_object_1" condim="4" friction="1 1 0.1 0 0" />
|
| 390 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_2"
|
| 391 |
+
name="collision_hand_right_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0" />
|
| 392 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_3"
|
| 393 |
+
name="collision_hand_right_index_2_right_object_3" condim="4" friction="1 1 0.1 0 0" />
|
| 394 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_4"
|
| 395 |
+
name="collision_hand_right_index_2_right_object_4" condim="4" friction="1 1 0.1 0 0" />
|
| 396 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_5"
|
| 397 |
+
name="collision_hand_right_index_2_right_object_5" condim="4" friction="1 1 0.1 0 0" />
|
| 398 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_6"
|
| 399 |
+
name="collision_hand_right_index_2_right_object_6" condim="4" friction="1 1 0.1 0 0" />
|
| 400 |
+
<pair geom1="collision_hand_right_index_2" geom2="right_object_7"
|
| 401 |
+
name="collision_hand_right_index_2_right_object_7" condim="4" friction="1 1 0.1 0 0" />
|
| 402 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_0"
|
| 403 |
+
name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0" />
|
| 404 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_1"
|
| 405 |
+
name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0" />
|
| 406 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_2"
|
| 407 |
+
name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0" />
|
| 408 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_3"
|
| 409 |
+
name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0" />
|
| 410 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_4"
|
| 411 |
+
name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0" />
|
| 412 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_5"
|
| 413 |
+
name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0" />
|
| 414 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_6"
|
| 415 |
+
name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0" />
|
| 416 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_7"
|
| 417 |
+
name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0" />
|
| 418 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0"
|
| 419 |
+
name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0" />
|
| 420 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0"
|
| 421 |
+
name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0" />
|
| 422 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_thumb_0"
|
| 423 |
+
name="collision_hand_right_index_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
|
| 424 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_0"
|
| 425 |
+
name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0" />
|
| 426 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_1"
|
| 427 |
+
name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0" />
|
| 428 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_2"
|
| 429 |
+
name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0" />
|
| 430 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_3"
|
| 431 |
+
name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0" />
|
| 432 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_4"
|
| 433 |
+
name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0" />
|
| 434 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_5"
|
| 435 |
+
name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0" />
|
| 436 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_6"
|
| 437 |
+
name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0" />
|
| 438 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_7"
|
| 439 |
+
name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0" />
|
| 440 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_0"
|
| 441 |
+
name="collision_hand_right_middle_2_right_object_0" friction="1 1 0.1 0 0" />
|
| 442 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_1"
|
| 443 |
+
name="collision_hand_right_middle_2_right_object_1" friction="1 1 0.1 0 0" />
|
| 444 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_2"
|
| 445 |
+
name="collision_hand_right_middle_2_right_object_2" friction="1 1 0.1 0 0" />
|
| 446 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_3"
|
| 447 |
+
name="collision_hand_right_middle_2_right_object_3" friction="1 1 0.1 0 0" />
|
| 448 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_4"
|
| 449 |
+
name="collision_hand_right_middle_2_right_object_4" friction="1 1 0.1 0 0" />
|
| 450 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_5"
|
| 451 |
+
name="collision_hand_right_middle_2_right_object_5" friction="1 1 0.1 0 0" />
|
| 452 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_6"
|
| 453 |
+
name="collision_hand_right_middle_2_right_object_6" friction="1 1 0.1 0 0" />
|
| 454 |
+
<pair geom1="collision_hand_right_middle_2" geom2="right_object_7"
|
| 455 |
+
name="collision_hand_right_middle_2_right_object_7" friction="1 1 0.1 0 0" />
|
| 456 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0"
|
| 457 |
+
name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0" />
|
| 458 |
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|
| 459 |
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|
| 460 |
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|
| 461 |
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|
| 462 |
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|
| 463 |
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|
| 464 |
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|
| 465 |
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|
| 466 |
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|
| 467 |
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|
| 468 |
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|
| 469 |
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|
| 470 |
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|
| 471 |
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|
| 472 |
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|
| 473 |
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|
| 474 |
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|
| 475 |
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name="collision_hand_right_middle_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
|
| 476 |
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|
| 477 |
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name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0" />
|
| 478 |
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|
| 479 |
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name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0" />
|
| 480 |
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|
| 481 |
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name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0" />
|
| 482 |
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|
| 483 |
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name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0" />
|
| 484 |
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|
| 485 |
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name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0" />
|
| 486 |
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|
| 487 |
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name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0" />
|
| 488 |
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<pair geom1="collision_hand_right_middle_0" geom2="right_object_6"
|
| 489 |
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name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0" />
|
| 490 |
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<pair geom1="collision_hand_right_middle_0" geom2="right_object_7"
|
| 491 |
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name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0" />
|
| 492 |
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<pair geom1="collision_hand_right_ring_2" geom2="right_object_0"
|
| 493 |
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name="collision_hand_right_ring_2_right_object_0" friction="1 1 0.1 0 0" />
|
| 494 |
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|
| 495 |
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name="collision_hand_right_ring_2_right_object_1" friction="1 1 0.1 0 0" />
|
| 496 |
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|
| 497 |
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name="collision_hand_right_ring_2_right_object_2" friction="1 1 0.1 0 0" />
|
| 498 |
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|
| 499 |
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name="collision_hand_right_ring_2_right_object_3" friction="1 1 0.1 0 0" />
|
| 500 |
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|
| 501 |
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name="collision_hand_right_ring_2_right_object_4" friction="1 1 0.1 0 0" />
|
| 502 |
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|
| 503 |
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name="collision_hand_right_ring_2_right_object_5" friction="1 1 0.1 0 0" />
|
| 504 |
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<pair geom1="collision_hand_right_ring_2" geom2="right_object_6"
|
| 505 |
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name="collision_hand_right_ring_2_right_object_6" friction="1 1 0.1 0 0" />
|
| 506 |
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<pair geom1="collision_hand_right_ring_2" geom2="right_object_7"
|
| 507 |
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name="collision_hand_right_ring_2_right_object_7" friction="1 1 0.1 0 0" />
|
| 508 |
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<pair geom1="collision_hand_right_ring_1" geom2="right_object_0"
|
| 509 |
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name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0" />
|
| 510 |
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<pair geom1="collision_hand_right_ring_1" geom2="right_object_1"
|
| 511 |
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name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0" />
|
| 512 |
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<pair geom1="collision_hand_right_ring_1" geom2="right_object_2"
|
| 513 |
+
name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0" />
|
| 514 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3"
|
| 515 |
+
name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0" />
|
| 516 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4"
|
| 517 |
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name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0" />
|
| 518 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5"
|
| 519 |
+
name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0" />
|
| 520 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6"
|
| 521 |
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name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0" />
|
| 522 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7"
|
| 523 |
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name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0" />
|
| 524 |
+
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_thumb_0"
|
| 525 |
+
name="collision_hand_right_ring_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0" />
|
| 526 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0"
|
| 527 |
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name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0" />
|
| 528 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_1"
|
| 529 |
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name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0" />
|
| 530 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_2"
|
| 531 |
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name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0" />
|
| 532 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_3"
|
| 533 |
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name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0" />
|
| 534 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_4"
|
| 535 |
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name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0" />
|
| 536 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_5"
|
| 537 |
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name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0" />
|
| 538 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_6"
|
| 539 |
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name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0" />
|
| 540 |
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<pair geom1="collision_hand_right_ring_0" geom2="right_object_7"
|
| 541 |
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name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0" />
|
| 542 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_0"
|
| 543 |
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name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0" />
|
| 544 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_1"
|
| 545 |
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name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0" />
|
| 546 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_2"
|
| 547 |
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name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0" />
|
| 548 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_3"
|
| 549 |
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name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0" />
|
| 550 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_4"
|
| 551 |
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name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0" />
|
| 552 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_5"
|
| 553 |
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name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0" />
|
| 554 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_6"
|
| 555 |
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name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0" />
|
| 556 |
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<pair geom1="collision_hand_right_thumb_2" geom2="right_object_7"
|
| 557 |
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name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0" />
|
| 558 |
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<pair geom1="collision_hand_right_thumb_1" geom2="right_object_0"
|
| 559 |
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name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0" />
|
| 560 |
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|
| 561 |
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name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0" />
|
| 562 |
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|
| 563 |
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name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0" />
|
| 564 |
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|
| 565 |
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name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0" />
|
| 566 |
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|
| 567 |
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name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0" />
|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0" />
|
| 572 |
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<pair geom1="collision_hand_right_thumb_1" geom2="right_object_7"
|
| 573 |
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name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0" />
|
| 574 |
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|
| 575 |
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name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0" />
|
| 576 |
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|
| 577 |
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name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0" />
|
| 578 |
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|
| 579 |
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name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0" />
|
| 580 |
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|
| 581 |
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name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0" />
|
| 582 |
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|
| 583 |
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name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0" />
|
| 584 |
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|
| 585 |
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name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0" />
|
| 586 |
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|
| 587 |
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name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0" />
|
| 588 |
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|
| 589 |
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name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0" />
|
| 590 |
</contact>
|
| 591 |
|
| 592 |
<actuator>
|
| 593 |
+
<general name="right_pos_x" class="right_base_slide" joint="right_pos_x" />
|
| 594 |
+
<general name="right_pos_y" class="right_base_slide" joint="right_pos_y" />
|
| 595 |
+
<general name="right_pos_z" class="right_base_slide" joint="right_pos_z" />
|
| 596 |
+
<general name="right_rot_x" class="right_base_hinge" joint="right_rot_x" />
|
| 597 |
+
<general name="right_rot_y" class="right_base_hinge" joint="right_rot_y" />
|
| 598 |
+
<general name="right_rot_z" class="right_base_hinge" joint="right_rot_z" />
|
| 599 |
+
<general name="right_ffa0" class="right_base" joint="right_index_base_joint" />
|
| 600 |
+
<general name="right_ffa1" class="right_proximal" joint="right_index_proximal_joint" />
|
| 601 |
+
<general name="right_ffa2" class="right_medial" joint="right_index_medial_joint" />
|
| 602 |
+
<general name="right_ffa3" class="right_distal" joint="right_index_distal_joint" />
|
| 603 |
+
<general name="right_mfa0" class="right_base" joint="right_middle_base_joint" />
|
| 604 |
+
<general name="right_mfa1" class="right_proximal" joint="right_middle_proximal_joint" />
|
| 605 |
+
<general name="right_mfa2" class="right_medial" joint="right_middle_medial_joint" />
|
| 606 |
+
<general name="right_mfa3" class="right_distal" joint="right_middle_distal_joint" />
|
| 607 |
+
<general name="right_rfa0" class="right_base" joint="right_ring_base_joint" />
|
| 608 |
+
<general name="right_rfa1" class="right_proximal" joint="right_ring_proximal_joint" />
|
| 609 |
+
<general name="right_rfa2" class="right_medial" joint="right_ring_medial_joint" />
|
| 610 |
+
<general name="right_rfa3" class="right_distal" joint="right_ring_distal_joint" />
|
| 611 |
+
<general name="right_tha0" class="right_thumb_base" joint="right_thumb_base_joint" />
|
| 612 |
+
<general name="right_tha1" class="right_thumb_proximal" joint="right_thumb_proximal_joint" />
|
| 613 |
+
<general name="right_tha2" class="right_thumb_medial" joint="right_thumb_medial_joint" />
|
| 614 |
+
<general name="right_tha3" class="right_thumb_distal" joint="right_thumb_distal_joint" />
|
| 615 |
</actuator>
|
| 616 |
</mujoco>
|
processed/{hdmi/unitree_g1/humanoid/move_suitcase → fair_mon/allegro/right/coke}/1/trajectory_kinematic.npz
RENAMED
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processed/gigahand/allegro/bimanual/p36-tea/10/trajectory_mjwp.npz
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processed/gigahand/allegro/bimanual/p36-tea/10/visualization_mjwp.mp4
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processed/gigahand/inspire/bimanual/p52-instrument/34/trajectory_mjwp.npz
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processed/gigahand/inspire/bimanual/p52-instrument/34/visualization_mjwp.mp4
CHANGED
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processed/gigahand/schunk/bimanual/p44-dog/4/trajectory_mjwp.npz
CHANGED
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processed/gigahand/schunk/bimanual/p44-dog/4/visualization_mjwp.mp4
CHANGED
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processed/gigahand/xhand/bimanual/p36-tea/10/trajectory_mjwp.npz
CHANGED
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|
| 3 |
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size
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|
| 3 |
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size 786854
|
processed/gigahand/xhand/bimanual/p36-tea/10/visualization_mjwp.mp4
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
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|
| 3 |
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size 549543
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processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/0/trajectory_hdmi.npz
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/0/trajectory_kinematic.npz
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/0/visualization_hdmi.mp4
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/1/trajectory_hdmi.npz
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/1/trajectory_kinematic.npz
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/1/visualization_hdmi.mp4
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_largebox/scene.zip
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/0/trajectory_hdmi.npz
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/0/trajectory_kinematic.npz
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/0/visualization_hdmi.mp4
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/1/trajectory_hdmi.npz
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
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| 3 |
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|
| 3 |
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|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/1/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
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| 1 |
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version https://git-lfs.github.com/spec/v1
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|
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size 232718
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/1/visualization_hdmi.mp4
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
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size
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|
| 3 |
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size 1154607
|
processed/hdmi/unitree_g1/{humanoid → humanoid_object}/move_suitcase/scene.zip
RENAMED
|
File without changes
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/mjlab scene.xml
ADDED
|
@@ -0,0 +1,572 @@
|
|
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|
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|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="mjlab scene">
|
| 2 |
+
<compiler angle="radian" />
|
| 3 |
+
|
| 4 |
+
<option timestep="0.005" integrator="implicitfast" iterations="10" ls_iterations="20" />
|
| 5 |
+
|
| 6 |
+
<size nkey="2" />
|
| 7 |
+
|
| 8 |
+
<visual>
|
| 9 |
+
<global azimuth="135" elevation="-25" offwidth="1920" offheight="1080" />
|
| 10 |
+
<quality shadowsize="8192" />
|
| 11 |
+
<headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
|
| 12 |
+
<scale forcewidth="0.25" contactwidth="0.4" contactheight="0.15" framelength="5"
|
| 13 |
+
framewidth="0.3" />
|
| 14 |
+
<rgba haze="0.15 0.25 0.35 1" force="1 0 0 1" />
|
| 15 |
+
</visual>
|
| 16 |
+
|
| 17 |
+
<statistic meansize="0.03" />
|
| 18 |
+
|
| 19 |
+
<default>
|
| 20 |
+
<default class="robot/main">
|
| 21 |
+
<default class="robot/g1">
|
| 22 |
+
<site group="5" rgba="1 0 0 1" />
|
| 23 |
+
<default class="robot/visual">
|
| 24 |
+
<geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver" />
|
| 25 |
+
</default>
|
| 26 |
+
<default class="robot/collision">
|
| 27 |
+
<geom type="capsule" group="3" rgba="0.2 0.6 0.2 0.3" />
|
| 28 |
+
<default class="robot/foot_capsule">
|
| 29 |
+
<geom size="0.01 0 0" />
|
| 30 |
+
</default>
|
| 31 |
+
</default>
|
| 32 |
+
</default>
|
| 33 |
+
</default>
|
| 34 |
+
<default class="suitcase/main" />
|
| 35 |
+
</default>
|
| 36 |
+
|
| 37 |
+
<asset>
|
| 38 |
+
<texture type="skybox" builtin="flat" rgb1="1 1 1" rgb2="1 1 1" width="3072" height="3072" />
|
| 39 |
+
<texture type="2d" colorspace="auto" name="groundplane" builtin="checker" mark="edge"
|
| 40 |
+
rgb1="1 1 1" rgb2="1.0 1.0 1.0" markrgb="1.0 1.0 1.0" width="300" height="300" />
|
| 41 |
+
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="4 4" />
|
| 42 |
+
<material name="robot/silver" rgba="0.7 0.7 0.7 1" />
|
| 43 |
+
<material name="robot/black" rgba="0.2 0.2 0.2 1" />
|
| 44 |
+
<mesh name="robot/pelvis" file="robot/pelvis.STL" />
|
| 45 |
+
<mesh name="robot/pelvis_contour_link" file="robot/pelvis_contour_link.STL" />
|
| 46 |
+
<mesh name="robot/left_hip_pitch_link" file="robot/left_hip_pitch_link.STL" />
|
| 47 |
+
<mesh name="robot/left_hip_roll_link" file="robot/left_hip_roll_link.STL" />
|
| 48 |
+
<mesh name="robot/left_hip_yaw_link" file="robot/left_hip_yaw_link.STL" />
|
| 49 |
+
<mesh name="robot/left_knee_link" file="robot/left_knee_link.STL" />
|
| 50 |
+
<mesh name="robot/left_ankle_pitch_link" file="robot/left_ankle_pitch_link.STL" />
|
| 51 |
+
<mesh name="robot/left_ankle_roll_link" file="robot/left_ankle_roll_link.STL" />
|
| 52 |
+
<mesh name="robot/right_hip_pitch_link" file="robot/right_hip_pitch_link.STL" />
|
| 53 |
+
<mesh name="robot/right_hip_roll_link" file="robot/right_hip_roll_link.STL" />
|
| 54 |
+
<mesh name="robot/right_hip_yaw_link" file="robot/right_hip_yaw_link.STL" />
|
| 55 |
+
<mesh name="robot/right_knee_link" file="robot/right_knee_link.STL" />
|
| 56 |
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<mesh name="robot/right_ankle_pitch_link" file="robot/right_ankle_pitch_link.STL" />
|
| 57 |
+
<mesh name="robot/right_ankle_roll_link" file="robot/right_ankle_roll_link.STL" />
|
| 58 |
+
<mesh name="robot/waist_yaw_link" file="robot/waist_yaw_link_rev_1_0.STL" />
|
| 59 |
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<mesh name="robot/waist_roll_link" file="robot/waist_roll_link_rev_1_0.STL" />
|
| 60 |
+
<mesh name="robot/torso_link" file="robot/torso_link_rev_1_0.STL" />
|
| 61 |
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<mesh name="robot/logo_link" file="robot/logo_link.STL" />
|
| 62 |
+
<mesh name="robot/head_link" file="robot/head_link.STL" />
|
| 63 |
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<mesh name="robot/left_shoulder_pitch_link" file="robot/left_shoulder_pitch_link.STL" />
|
| 64 |
+
<mesh name="robot/left_shoulder_roll_link" file="robot/left_shoulder_roll_link.STL" />
|
| 65 |
+
<mesh name="robot/left_shoulder_yaw_link" file="robot/left_shoulder_yaw_link.STL" />
|
| 66 |
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<mesh name="robot/left_elbow_link" file="robot/left_elbow_link.STL" />
|
| 67 |
+
<mesh name="robot/left_wrist_roll_link" file="robot/left_wrist_roll_link.STL" />
|
| 68 |
+
<mesh name="robot/left_wrist_pitch_link" file="robot/left_wrist_pitch_link.STL" />
|
| 69 |
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<mesh name="robot/left_wrist_yaw_link" file="robot/left_wrist_yaw_link.STL" />
|
| 70 |
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<mesh name="robot/left_rubber_hand" file="robot/left_rubber_hand.STL" />
|
| 71 |
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<mesh name="robot/right_shoulder_pitch_link" file="robot/right_shoulder_pitch_link.STL" />
|
| 72 |
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<mesh name="robot/right_shoulder_roll_link" file="robot/right_shoulder_roll_link.STL" />
|
| 73 |
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<mesh name="robot/right_shoulder_yaw_link" file="robot/right_shoulder_yaw_link.STL" />
|
| 74 |
+
<mesh name="robot/right_elbow_link" file="robot/right_elbow_link.STL" />
|
| 75 |
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<mesh name="robot/right_wrist_roll_link" file="robot/right_wrist_roll_link.STL" />
|
| 76 |
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<mesh name="robot/right_wrist_pitch_link" file="robot/right_wrist_pitch_link.STL" />
|
| 77 |
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<mesh name="robot/right_wrist_yaw_link" file="robot/right_wrist_yaw_link.STL" />
|
| 78 |
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<mesh name="robot/right_rubber_hand" file="robot/right_rubber_hand.STL" />
|
| 79 |
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</asset>
|
| 80 |
+
|
| 81 |
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|
| 82 |
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| 83 |
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| 84 |
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| 85 |
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| 86 |
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| 87 |
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diaginertia="0.010549 0.0093089 0.0079184" />
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type="sphere" condim="1" />
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quat="0.683353 0.555871 0.298684 0.367183" mode="trackcom" />
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armature="0.0101775" />
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<geom class="robot/visual" material="robot/black" mesh="robot/left_hip_pitch_link" />
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armature="0.0251019" />
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pos="0.02 0 -0.04" condim="1" />
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armature="0.0101775" />
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quat="0.996179 0 0.0873386 0">
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armature="0.0251019" />
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<geom class="robot/visual" material="robot/silver" mesh="robot/left_knee_link" />
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pos="0.01 0 -0.075" condim="1" />
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size="0.03 0.04" pos="0.01 0 -0.24" condim="1" />
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range="-0.87267 0.5236" armature="0.00721945" />
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<geom class="robot/visual" material="robot/silver"
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mesh="robot/left_ankle_pitch_link" />
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diaginertia="0.00167218 0.0016161 0.000217621" />
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range="-0.2618 0.2618" armature="0.00721945" />
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<geom class="robot/visual" material="robot/black"
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| 163 |
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mesh="robot/left_ankle_roll_link" />
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size="0.01 0.025005" pos="0.075 -0.0265 -0.025"
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quat="0.707107 -0.0141393 0.706965 0" priority="1" friction="0.6" />
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size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0"
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priority="1" friction="0.6" />
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| 171 |
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size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0"
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| 172 |
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priority="1" friction="0.6" />
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| 174 |
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size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0"
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| 175 |
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priority="1" friction="0.6" />
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<geom name="robot/left_foot5_collision" class="robot/foot_capsule"
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| 177 |
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size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0"
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| 178 |
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priority="1" friction="0.6" />
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| 179 |
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<geom name="robot/left_foot6_collision" class="robot/foot_capsule"
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| 180 |
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size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0"
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| 181 |
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priority="1" friction="0.6" />
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| 182 |
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<geom name="robot/left_foot7_collision" class="robot/foot_capsule"
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| 183 |
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size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0"
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| 184 |
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priority="1" friction="0.6" />
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| 185 |
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<site name="robot/left_foot" pos="0.04 0 -0.037" />
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| 186 |
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</body>
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| 187 |
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</body>
|
| 188 |
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</body>
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| 189 |
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</body>
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| 190 |
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</body>
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mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" />
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| 196 |
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armature="0.0101775" />
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<geom class="robot/visual" material="robot/black" mesh="robot/right_hip_pitch_link" />
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quat="0.996179 0 -0.0873386 0">
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mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" />
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| 203 |
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armature="0.0251019" />
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| 206 |
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pos="0.02 0 -0.04" condim="1" />
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mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" />
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| 211 |
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armature="0.0101775" />
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<geom class="robot/visual" material="robot/silver" mesh="robot/right_hip_yaw_link" />
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| 214 |
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pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" condim="1" />
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quat="0.996179 0 0.0873386 0">
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| 219 |
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diaginertia="0.011374 0.0112843 0.00146452" />
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| 221 |
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armature="0.0251019" />
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| 222 |
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<geom class="robot/visual" material="robot/silver" mesh="robot/right_knee_link" />
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| 224 |
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pos="0.01 0 -0.075" condim="1" />
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| 225 |
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| 226 |
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size="0.03 0.04" pos="0.01 0 -0.24" condim="1" />
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| 227 |
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<body name="robot/right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001">
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| 228 |
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| 229 |
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mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" />
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| 230 |
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<joint name="robot/right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0"
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| 231 |
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range="-0.87267 0.5236" armature="0.00721945" />
|
| 232 |
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<geom class="robot/visual" material="robot/silver"
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| 233 |
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mesh="robot/right_ankle_pitch_link" />
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| 234 |
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<body name="robot/right_ankle_roll_link" pos="0 0 -0.017558">
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quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608"
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| 237 |
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diaginertia="0.00167218 0.0016161 0.000217621" />
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| 238 |
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<joint name="robot/right_ankle_roll_joint" pos="0 0 0" axis="1 0 0"
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| 239 |
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range="-0.2618 0.2618" armature="0.00721945" />
|
| 240 |
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<geom class="robot/visual" material="robot/black"
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| 241 |
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mesh="robot/right_ankle_roll_link" />
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| 242 |
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| 243 |
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size="0.01 0.025" pos="0.075 -0.026 -0.025" quat="0.707107 0 0.707107 0"
|
| 244 |
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priority="1" friction="0.6" />
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| 245 |
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<geom name="robot/right_foot2_collision" class="robot/foot_capsule"
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| 246 |
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size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0"
|
| 247 |
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priority="1" friction="0.6" />
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| 248 |
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<geom name="robot/right_foot3_collision" class="robot/foot_capsule"
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| 249 |
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size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0"
|
| 250 |
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priority="1" friction="0.6" />
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| 251 |
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<geom name="robot/right_foot4_collision" class="robot/foot_capsule"
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| 252 |
+
size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0"
|
| 253 |
+
priority="1" friction="0.6" />
|
| 254 |
+
<geom name="robot/right_foot5_collision" class="robot/foot_capsule"
|
| 255 |
+
size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0"
|
| 256 |
+
priority="1" friction="0.6" />
|
| 257 |
+
<geom name="robot/right_foot6_collision" class="robot/foot_capsule"
|
| 258 |
+
size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0"
|
| 259 |
+
priority="1" friction="0.6" />
|
| 260 |
+
<geom name="robot/right_foot7_collision" class="robot/foot_capsule"
|
| 261 |
+
size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0"
|
| 262 |
+
priority="1" friction="0.6" />
|
| 263 |
+
<site name="robot/right_foot" pos="0.04 0 -0.037" />
|
| 264 |
+
</body>
|
| 265 |
+
</body>
|
| 266 |
+
</body>
|
| 267 |
+
</body>
|
| 268 |
+
</body>
|
| 269 |
+
</body>
|
| 270 |
+
<body name="robot/waist_yaw_link">
|
| 271 |
+
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821"
|
| 272 |
+
mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205" />
|
| 273 |
+
<joint name="robot/waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618"
|
| 274 |
+
armature="0.0101775" />
|
| 275 |
+
<geom class="robot/visual" material="robot/silver" mesh="robot/waist_yaw_link" />
|
| 276 |
+
<body name="robot/waist_roll_link" pos="-0.0039635 0 0.044">
|
| 277 |
+
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086"
|
| 278 |
+
diaginertia="8.245e-06 7.079e-06 6.339e-06" />
|
| 279 |
+
<joint name="robot/waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52"
|
| 280 |
+
armature="0.00721945" />
|
| 281 |
+
<geom class="robot/visual" material="robot/silver" mesh="robot/waist_roll_link" />
|
| 282 |
+
<body name="robot/torso_link">
|
| 283 |
+
<inertial pos="0.00203158 0.000339683 0.184568"
|
| 284 |
+
quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818"
|
| 285 |
+
diaginertia="0.121847 0.109825 0.0273735" />
|
| 286 |
+
<joint name="robot/waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52"
|
| 287 |
+
armature="0.00721945" />
|
| 288 |
+
<geom class="robot/visual" material="robot/silver" mesh="robot/torso_link" />
|
| 289 |
+
<geom class="robot/visual" pos="0.0039635 0 -0.044" quat="1 0 0 0"
|
| 290 |
+
material="robot/black" mesh="robot/logo_link" />
|
| 291 |
+
<geom class="robot/visual" pos="0.0039635 0 -0.044" material="robot/black"
|
| 292 |
+
mesh="robot/head_link" />
|
| 293 |
+
<site name="robot/imu_in_torso" pos="-0.03959 -0.00224 0.14792" size="0.01" />
|
| 294 |
+
<body name="robot/left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778"
|
| 295 |
+
quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
|
| 296 |
+
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225"
|
| 297 |
+
mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
|
| 298 |
+
<joint name="robot/left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
|
| 299 |
+
range="-3.0892 2.6704" armature="0.00360972" />
|
| 300 |
+
<geom class="robot/visual" material="robot/silver"
|
| 301 |
+
mesh="robot/left_shoulder_pitch_link" />
|
| 302 |
+
<body name="robot/left_shoulder_roll_link" pos="0 0.038 -0.013831"
|
| 303 |
+
quat="0.990268 -0.139172 0 0">
|
| 304 |
+
<inertial pos="-0.000227 0.00727 -0.063243"
|
| 305 |
+
quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643"
|
| 306 |
+
diaginertia="0.000691311 0.000618011 0.000388977" />
|
| 307 |
+
<joint name="robot/left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
|
| 308 |
+
range="-1.5882 2.2515" armature="0.00360972" />
|
| 309 |
+
<geom class="robot/visual" material="robot/silver"
|
| 310 |
+
mesh="robot/left_shoulder_roll_link" />
|
| 311 |
+
<body name="robot/left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
|
| 312 |
+
<inertial pos="0.010773 -0.002949 -0.072009"
|
| 313 |
+
quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734"
|
| 314 |
+
diaginertia="0.00106187 0.00103217 0.000400661" />
|
| 315 |
+
<joint name="robot/left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
|
| 316 |
+
range="-2.618 2.618" armature="0.00360972" />
|
| 317 |
+
<geom class="robot/visual" material="robot/silver"
|
| 318 |
+
mesh="robot/left_shoulder_yaw_link" />
|
| 319 |
+
<geom name="robot/left_shoulder_yaw_collision" class="robot/collision"
|
| 320 |
+
size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" condim="1" />
|
| 321 |
+
<body name="robot/left_elbow_link" pos="0.015783 0 -0.080518">
|
| 322 |
+
<inertial pos="0.064956 0.004454 -0.010062"
|
| 323 |
+
quat="0.541765 0.636132 0.388821 0.388129" mass="0.6"
|
| 324 |
+
diaginertia="0.000443035 0.000421612 0.000259353" />
|
| 325 |
+
<joint name="robot/left_elbow_joint" pos="0 0 0" axis="0 1 0"
|
| 326 |
+
range="-1.0472 2.0944" armature="0.00360972" />
|
| 327 |
+
<geom class="robot/visual" material="robot/silver" mesh="robot/left_elbow_link" />
|
| 328 |
+
<geom name="robot/left_elbow_yaw_collision" class="robot/collision"
|
| 329 |
+
size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0"
|
| 330 |
+
condim="1" />
|
| 331 |
+
<body name="robot/left_wrist_roll_link" pos="0.1 0.00188791 -0.01">
|
| 332 |
+
<inertial pos="0.0171394 0.000537591 4.8864e-07"
|
| 333 |
+
quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445"
|
| 334 |
+
diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
|
| 335 |
+
<joint name="robot/left_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
|
| 336 |
+
range="-1.97222 1.97222" armature="0.00360972" />
|
| 337 |
+
<geom class="robot/visual" material="robot/silver"
|
| 338 |
+
mesh="robot/left_wrist_roll_link" />
|
| 339 |
+
<body name="robot/left_wrist_pitch_link" pos="0.038 0 0">
|
| 340 |
+
<inertial pos="0.0229999 -0.00111685 -0.00111658"
|
| 341 |
+
quat="0.249998 0.661363 0.293036 0.643608" mass="0.48405"
|
| 342 |
+
diaginertia="0.000430353 0.000429873 0.000164648" />
|
| 343 |
+
<joint name="robot/left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
|
| 344 |
+
range="-1.61443 1.61443" armature="0.00425" />
|
| 345 |
+
<geom class="robot/visual" material="robot/silver"
|
| 346 |
+
mesh="robot/left_wrist_pitch_link" />
|
| 347 |
+
<body name="robot/left_wrist_yaw_link" pos="0.046 0 0">
|
| 348 |
+
<inertial pos="0.0708244 0.000191745 0.00161742"
|
| 349 |
+
quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576"
|
| 350 |
+
diaginertia="0.000646113 0.000559993 0.000147566" />
|
| 351 |
+
<joint name="robot/left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
|
| 352 |
+
range="-1.61443 1.61443" armature="0.00425" />
|
| 353 |
+
<geom class="robot/visual" material="robot/silver"
|
| 354 |
+
mesh="robot/left_wrist_yaw_link" />
|
| 355 |
+
<geom class="robot/visual" pos="0.0415 0.003 0" quat="1 0 0 0"
|
| 356 |
+
material="robot/silver" mesh="robot/left_rubber_hand" />
|
| 357 |
+
<geom name="robot/left_wrist_yaw_1_collision" class="robot/collision"
|
| 358 |
+
size="0.05 0.025 0.025" pos="0.02 0 0" type="box" condim="1" />
|
| 359 |
+
<geom name="robot/left_wrist_yaw_2_collision" class="robot/collision"
|
| 360 |
+
size="0.05 0.01 0.05" pos="0.09 0 0" type="box" condim="1" />
|
| 361 |
+
<geom name="robot/left_wrist_yaw_3_collision" class="robot/collision"
|
| 362 |
+
size="0.025 0.01 0.05" pos="0.15 -0.01 0" quat="0.980067 0 0 -0.198669"
|
| 363 |
+
type="box" condim="1" />
|
| 364 |
+
<site name="robot/left_palm" pos="0.08 0 0" size="0.01" />
|
| 365 |
+
</body>
|
| 366 |
+
</body>
|
| 367 |
+
</body>
|
| 368 |
+
</body>
|
| 369 |
+
</body>
|
| 370 |
+
</body>
|
| 371 |
+
</body>
|
| 372 |
+
<body name="robot/right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778"
|
| 373 |
+
quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
|
| 374 |
+
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152"
|
| 375 |
+
mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" />
|
| 376 |
+
<joint name="robot/right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0"
|
| 377 |
+
range="-3.0892 2.6704" armature="0.00360972" />
|
| 378 |
+
<geom class="robot/visual" material="robot/silver"
|
| 379 |
+
mesh="robot/right_shoulder_pitch_link" />
|
| 380 |
+
<body name="robot/right_shoulder_roll_link" pos="0 -0.038 -0.013831"
|
| 381 |
+
quat="0.990268 0.139172 0 0">
|
| 382 |
+
<inertial pos="-0.000227 -0.00727 -0.063243"
|
| 383 |
+
quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643"
|
| 384 |
+
diaginertia="0.000691311 0.000618011 0.000388977" />
|
| 385 |
+
<joint name="robot/right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0"
|
| 386 |
+
range="-2.2515 1.5882" armature="0.00360972" />
|
| 387 |
+
<geom class="robot/visual" material="robot/silver"
|
| 388 |
+
mesh="robot/right_shoulder_roll_link" />
|
| 389 |
+
<body name="robot/right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
|
| 390 |
+
<inertial pos="0.010773 0.002949 -0.072009"
|
| 391 |
+
quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734"
|
| 392 |
+
diaginertia="0.00106187 0.00103217 0.000400661" />
|
| 393 |
+
<joint name="robot/right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1"
|
| 394 |
+
range="-2.618 2.618" armature="0.00360972" />
|
| 395 |
+
<geom class="robot/visual" material="robot/silver"
|
| 396 |
+
mesh="robot/right_shoulder_yaw_link" />
|
| 397 |
+
<geom name="robot/right_shoulder_yaw_collision" class="robot/collision"
|
| 398 |
+
size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" condim="1" />
|
| 399 |
+
<body name="robot/right_elbow_link" pos="0.015783 0 -0.080518">
|
| 400 |
+
<inertial pos="0.064956 -0.004454 -0.010062"
|
| 401 |
+
quat="0.388129 0.388821 0.636132 0.541765" mass="0.6"
|
| 402 |
+
diaginertia="0.000443035 0.000421612 0.000259353" />
|
| 403 |
+
<joint name="robot/right_elbow_joint" pos="0 0 0" axis="0 1 0"
|
| 404 |
+
range="-1.0472 2.0944" armature="0.00360972" />
|
| 405 |
+
<geom class="robot/visual" material="robot/silver" mesh="robot/right_elbow_link" />
|
| 406 |
+
<geom name="robot/right_elbow_yaw_collision" class="robot/collision"
|
| 407 |
+
size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0"
|
| 408 |
+
condim="1" />
|
| 409 |
+
<body name="robot/right_wrist_roll_link" pos="0.1 -0.00188791 -0.01">
|
| 410 |
+
<inertial pos="0.0171394 -0.000537591 4.8864e-07"
|
| 411 |
+
quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445"
|
| 412 |
+
diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" />
|
| 413 |
+
<joint name="robot/right_wrist_roll_joint" pos="0 0 0" axis="1 0 0"
|
| 414 |
+
range="-1.97222 1.97222" armature="0.00360972" />
|
| 415 |
+
<geom class="robot/visual" material="robot/silver"
|
| 416 |
+
mesh="robot/right_wrist_roll_link" />
|
| 417 |
+
<body name="robot/right_wrist_pitch_link" pos="0.038 0 0">
|
| 418 |
+
<inertial pos="0.0229999 0.00111685 -0.00111658"
|
| 419 |
+
quat="0.643608 0.293036 0.661363 0.249998" mass="0.48405"
|
| 420 |
+
diaginertia="0.000430353 0.000429873 0.000164648" />
|
| 421 |
+
<joint name="robot/right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0"
|
| 422 |
+
range="-1.61443 1.61443" armature="0.00425" />
|
| 423 |
+
<geom class="robot/visual" material="robot/silver"
|
| 424 |
+
mesh="robot/right_wrist_pitch_link" />
|
| 425 |
+
<body name="robot/right_wrist_yaw_link" pos="0.046 0 0">
|
| 426 |
+
<inertial pos="0.0708244 -0.000191745 0.00161742"
|
| 427 |
+
quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576"
|
| 428 |
+
diaginertia="0.000646113 0.000559993 0.000147566" />
|
| 429 |
+
<joint name="robot/right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1"
|
| 430 |
+
range="-1.61443 1.61443" armature="0.00425" />
|
| 431 |
+
<geom class="robot/visual" material="robot/silver"
|
| 432 |
+
mesh="robot/right_wrist_yaw_link" />
|
| 433 |
+
<geom name="robot/right_wrist_yaw_1_collision" class="robot/collision"
|
| 434 |
+
size="0.05 0.025 0.025" pos="0.02 0 0" type="box" condim="1" />
|
| 435 |
+
<geom name="robot/right_wrist_yaw_2_collision" class="robot/collision"
|
| 436 |
+
size="0.05 0.01 0.05" pos="0.09 0 0" type="box" condim="1" />
|
| 437 |
+
<geom name="robot/right_wrist_yaw_3_collision" class="robot/collision"
|
| 438 |
+
size="0.025 0.01 0.05" pos="0.15 0.01 0" quat="0.980067 0 0 0.198669"
|
| 439 |
+
type="box" condim="1" />
|
| 440 |
+
<geom class="robot/visual" pos="0.0415 -0.003 0" quat="1 0 0 0"
|
| 441 |
+
material="robot/silver" mesh="robot/right_rubber_hand" />
|
| 442 |
+
<site name="robot/right_palm" pos="0.08 0 0" size="0.01" />
|
| 443 |
+
</body>
|
| 444 |
+
</body>
|
| 445 |
+
</body>
|
| 446 |
+
</body>
|
| 447 |
+
</body>
|
| 448 |
+
</body>
|
| 449 |
+
</body>
|
| 450 |
+
</body>
|
| 451 |
+
</body>
|
| 452 |
+
</body>
|
| 453 |
+
</body>
|
| 454 |
+
<body name="suitcase/suitcase" pos="0.4 0.05 0">
|
| 455 |
+
<inertial pos="-0.1 0 0.2" mass="2" diaginertia="0.0334 0.02167 0.04167" />
|
| 456 |
+
<joint name="suitcase/suitcase_root" type="free" />
|
| 457 |
+
<geom size="0.1 0.15 0.2" pos="-0.1 0 0.2" type="box" />
|
| 458 |
+
<!-- <site name="suitcase/suitcase_root" pos="0 0 0" size="0.02" rgba="1 0 0 1" />
|
| 459 |
+
<site name="suitcase/left_hand_contact" pos="-0.1 -0.18 0.3" size="0.05" rgba="1 0 0 1" />
|
| 460 |
+
<site name="suitcase/right_hand_contact" pos="-0.1 0.18 0.3" size="0.05" rgba="1 0 0 1" /> -->
|
| 461 |
+
</body>
|
| 462 |
+
</worldbody>
|
| 463 |
+
|
| 464 |
+
<contact>
|
| 465 |
+
<exclude body1="robot/pelvis" body2="robot/left_hip_roll_link" />
|
| 466 |
+
<exclude body1="robot/pelvis" body2="robot/right_hip_roll_link" />
|
| 467 |
+
<exclude body1="robot/left_elbow_link" body2="robot/left_wrist_pitch_link" />
|
| 468 |
+
<exclude body1="robot/right_elbow_link" body2="robot/right_wrist_pitch_link" />
|
| 469 |
+
</contact>
|
| 470 |
+
|
| 471 |
+
<actuator>
|
| 472 |
+
<general name="robot/left_hip_pitch_joint" joint="robot/left_hip_pitch_joint"
|
| 473 |
+
ctrlrange="-2.5307 2.8798" forcerange="-88 88" biastype="affine" gainprm="40.1792"
|
| 474 |
+
biasprm="0 -40.1792 -2.55789" />
|
| 475 |
+
<general name="robot/left_hip_roll_joint" joint="robot/left_hip_roll_joint"
|
| 476 |
+
ctrlrange="-0.5236 2.9671" forcerange="-139 139" biastype="affine" gainprm="99.0984"
|
| 477 |
+
biasprm="0 -99.0984 -6.3088" />
|
| 478 |
+
<general name="robot/left_hip_yaw_joint" joint="robot/left_hip_yaw_joint"
|
| 479 |
+
ctrlrange="-2.7576 2.7576" forcerange="-88 88" biastype="affine" gainprm="40.1792"
|
| 480 |
+
biasprm="0 -40.1792 -2.55789" />
|
| 481 |
+
<general name="robot/left_knee_joint" joint="robot/left_knee_joint" ctrlrange="-0.087267 2.8798"
|
| 482 |
+
forcerange="-139 139" biastype="affine" gainprm="99.0984" biasprm="0 -99.0984 -6.3088" />
|
| 483 |
+
<general name="robot/left_ankle_pitch_joint" joint="robot/left_ankle_pitch_joint"
|
| 484 |
+
ctrlrange="-0.87267 0.5236" forcerange="-50 50" biastype="affine" gainprm="28.5012"
|
| 485 |
+
biasprm="0 -28.5012 -1.81445" />
|
| 486 |
+
<general name="robot/left_ankle_roll_joint" joint="robot/left_ankle_roll_joint"
|
| 487 |
+
ctrlrange="-0.2618 0.2618" forcerange="-50 50" biastype="affine" gainprm="28.5012"
|
| 488 |
+
biasprm="0 -28.5012 -1.81445" />
|
| 489 |
+
<general name="robot/right_hip_pitch_joint" joint="robot/right_hip_pitch_joint"
|
| 490 |
+
ctrlrange="-2.5307 2.8798" forcerange="-88 88" biastype="affine" gainprm="40.1792"
|
| 491 |
+
biasprm="0 -40.1792 -2.55789" />
|
| 492 |
+
<general name="robot/right_hip_roll_joint" joint="robot/right_hip_roll_joint"
|
| 493 |
+
ctrlrange="-2.9671 0.5236" forcerange="-139 139" biastype="affine" gainprm="99.0984"
|
| 494 |
+
biasprm="0 -99.0984 -6.3088" />
|
| 495 |
+
<general name="robot/right_hip_yaw_joint" joint="robot/right_hip_yaw_joint"
|
| 496 |
+
ctrlrange="-2.7576 2.7576" forcerange="-88 88" biastype="affine" gainprm="40.1792"
|
| 497 |
+
biasprm="0 -40.1792 -2.55789" />
|
| 498 |
+
<general name="robot/right_knee_joint" joint="robot/right_knee_joint"
|
| 499 |
+
ctrlrange="-0.087267 2.8798" forcerange="-139 139" biastype="affine" gainprm="99.0984"
|
| 500 |
+
biasprm="0 -99.0984 -6.3088" />
|
| 501 |
+
<general name="robot/right_ankle_pitch_joint" joint="robot/right_ankle_pitch_joint"
|
| 502 |
+
ctrlrange="-0.87267 0.5236" forcerange="-50 50" biastype="affine" gainprm="28.5012"
|
| 503 |
+
biasprm="0 -28.5012 -1.81445" />
|
| 504 |
+
<general name="robot/right_ankle_roll_joint" joint="robot/right_ankle_roll_joint"
|
| 505 |
+
ctrlrange="-0.2618 0.2618" forcerange="-50 50" biastype="affine" gainprm="28.5012"
|
| 506 |
+
biasprm="0 -28.5012 -1.81445" />
|
| 507 |
+
<general name="robot/waist_yaw_joint" joint="robot/waist_yaw_joint" ctrlrange="-2.618 2.618"
|
| 508 |
+
forcerange="-88 88" biastype="affine" gainprm="40.1792" biasprm="0 -40.1792 -2.55789" />
|
| 509 |
+
<general name="robot/waist_roll_joint" joint="robot/waist_roll_joint" ctrlrange="-0.52 0.52"
|
| 510 |
+
forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445" />
|
| 511 |
+
<general name="robot/waist_pitch_joint" joint="robot/waist_pitch_joint" ctrlrange="-0.52 0.52"
|
| 512 |
+
forcerange="-50 50" biastype="affine" gainprm="28.5012" biasprm="0 -28.5012 -1.81445" />
|
| 513 |
+
<general name="robot/left_shoulder_pitch_joint" joint="robot/left_shoulder_pitch_joint"
|
| 514 |
+
ctrlrange="-3.0892 2.6704" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 515 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 516 |
+
<general name="robot/left_shoulder_roll_joint" joint="robot/left_shoulder_roll_joint"
|
| 517 |
+
ctrlrange="-1.5882 2.2515" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 518 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 519 |
+
<general name="robot/left_shoulder_yaw_joint" joint="robot/left_shoulder_yaw_joint"
|
| 520 |
+
ctrlrange="-2.618 2.618" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 521 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 522 |
+
<general name="robot/left_elbow_joint" joint="robot/left_elbow_joint" ctrlrange="-1.0472 2.0944"
|
| 523 |
+
forcerange="-25 25" biastype="affine" gainprm="14.2506" biasprm="0 -14.2506 -0.907223" />
|
| 524 |
+
<general name="robot/left_wrist_roll_joint" joint="robot/left_wrist_roll_joint"
|
| 525 |
+
ctrlrange="-1.97222 1.97222" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 526 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 527 |
+
<general name="robot/left_wrist_pitch_joint" joint="robot/left_wrist_pitch_joint"
|
| 528 |
+
ctrlrange="-1.61443 1.61443" forcerange="-5 5" biastype="affine" gainprm="16.7783"
|
| 529 |
+
biasprm="0 -16.7783 -1.06814" />
|
| 530 |
+
<general name="robot/left_wrist_yaw_joint" joint="robot/left_wrist_yaw_joint"
|
| 531 |
+
ctrlrange="-1.61443 1.61443" forcerange="-5 5" biastype="affine" gainprm="16.7783"
|
| 532 |
+
biasprm="0 -16.7783 -1.06814" />
|
| 533 |
+
<general name="robot/right_shoulder_pitch_joint" joint="robot/right_shoulder_pitch_joint"
|
| 534 |
+
ctrlrange="-3.0892 2.6704" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 535 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 536 |
+
<general name="robot/right_shoulder_roll_joint" joint="robot/right_shoulder_roll_joint"
|
| 537 |
+
ctrlrange="-2.2515 1.5882" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 538 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 539 |
+
<general name="robot/right_shoulder_yaw_joint" joint="robot/right_shoulder_yaw_joint"
|
| 540 |
+
ctrlrange="-2.618 2.618" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 541 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 542 |
+
<general name="robot/right_elbow_joint" joint="robot/right_elbow_joint"
|
| 543 |
+
ctrlrange="-1.0472 2.0944" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 544 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 545 |
+
<general name="robot/right_wrist_roll_joint" joint="robot/right_wrist_roll_joint"
|
| 546 |
+
ctrlrange="-1.97222 1.97222" forcerange="-25 25" biastype="affine" gainprm="14.2506"
|
| 547 |
+
biasprm="0 -14.2506 -0.907223" />
|
| 548 |
+
<general name="robot/right_wrist_pitch_joint" joint="robot/right_wrist_pitch_joint"
|
| 549 |
+
ctrlrange="-1.61443 1.61443" forcerange="-5 5" biastype="affine" gainprm="16.7783"
|
| 550 |
+
biasprm="0 -16.7783 -1.06814" />
|
| 551 |
+
<general name="robot/right_wrist_yaw_joint" joint="robot/right_wrist_yaw_joint"
|
| 552 |
+
ctrlrange="-1.61443 1.61443" forcerange="-5 5" biastype="affine" gainprm="16.7783"
|
| 553 |
+
biasprm="0 -16.7783 -1.06814" />
|
| 554 |
+
</actuator>
|
| 555 |
+
|
| 556 |
+
<sensor>
|
| 557 |
+
<framepos objtype="xbody" objname="suitcase/suitcase" name="suitcase/suitcase_pos" />
|
| 558 |
+
<framequat objtype="xbody" objname="suitcase/suitcase" name="suitcase/suitcase_quat" />
|
| 559 |
+
<contact body1="suitcase/suitcase" body2="robot/left_wrist_yaw_link" num="4" data="force"
|
| 560 |
+
reduce="netforce" name="left_wrist_yaw_link_suitcase_contact_forces" />
|
| 561 |
+
<contact body1="suitcase/suitcase" body2="robot/right_wrist_yaw_link" num="4" data="force"
|
| 562 |
+
reduce="netforce" name="right_wrist_yaw_link_suitcase_contact_forces" />
|
| 563 |
+
</sensor>
|
| 564 |
+
|
| 565 |
+
<keyframe>
|
| 566 |
+
<key name="robot/init_state"
|
| 567 |
+
qpos="0 0 0.76 1 0 0 0 -0.312 0 0 0.669 -0.363 0 -0.312 0 0 0.669 -0.363 0 0 0 0 0.2 0.2 0 0.6 0 0 0 0.2 -0.2 0 0.6 0 0 0 0.4 0.05 0 1 0 0 0"
|
| 568 |
+
ctrl="-0.312 0 0 0.669 -0.363 0 -0.312 0 0 0.669 -0.363 0 0 0 0 0.2 0.2 0 0.6 0 0 0 0.2 -0.2 0 0.6 0 0 0" />
|
| 569 |
+
<key name="suitcase/init_state"
|
| 570 |
+
qpos="0 0 0.793 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0" />
|
| 571 |
+
</keyframe>
|
| 572 |
+
</mujoco>
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/head_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:005fb67fbd3eff94aa8bf4a6e83238174e9f91b6721f7111594322f223724411
|
| 3 |
+
size 932784
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_ankle_pitch_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d49e3abc6f5b12e532062cd575b87b5ef40cd2a3fc18f54a1ca5bba4f773d51d
|
| 3 |
+
size 71184
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_ankle_roll_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c4092af943141d4d9f74232f3cfa345afc6565f46a077793b8ae0e68b39dc33f
|
| 3 |
+
size 653384
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_elbow_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa752198accd104d5c4c3a01382e45165b944fbbc5acce085059223324e5bed3
|
| 3 |
+
size 88784
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_index_0_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
|
| 3 |
+
size 475984
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_index_1_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e315ebc8a7a0cb98e033985b586b20d81cf8aa761181ae61ce56fcb14077a06
|
| 3 |
+
size 1521784
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_middle_0_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:6b35f2f77211d5a366f0b9a4e47c4ee35e536731266f1a34e9efa12db579b892
|
| 3 |
+
size 475984
|
processed/hdmi/unitree_g1/humanoid_object/move_suitcase/scene/robot/left_hand_middle_1_link.STL
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9e315ebc8a7a0cb98e033985b586b20d81cf8aa761181ae61ce56fcb14077a06
|
| 3 |
+
size 1521784
|