jc-bao
commited on
Commit
·
eebb3dd
1
Parent(s):
e7f3d4a
⚡ add xhand example
Browse filesThis view is limited to 50 files because it contains too many changes.
See raw diff
- fair_mon/xhand_right_coke_0.npz +3 -0
- processed/fair_fre/allegro/bimanual/pour/task_info.json +2 -2
- processed/fair_fre/allegro/right/rotatebulb/task_info.json +2 -2
- processed/fair_fre/mano/bimanual/pickbowl/task_info.json +1 -1
- processed/fair_fre/mano/bimanual/pour/task_info.json +2 -2
- processed/fair_fre/mano/right/pickcup/0/task_info.json +2 -2
- processed/fair_fre/mano/right/pickcup/1/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/2/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/3/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/4/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/5/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/6/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/7/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/8/task_info.json +1 -1
- processed/fair_fre/mano/right/pickcup/task_info.json +2 -2
- processed/fair_fre/mano/right/rotate_bulb/task_info.json +1 -1
- processed/fair_fre/mano/right/rotatebulb/task_info.json +2 -2
- processed/fair_fre/mano/right/scoopspoon/task_info.json +1 -1
- processed/fair_fre/metahand/bimanual/pour/task_info.json +2 -2
- processed/fair_fre/metahand/right/pickcup/task_info.json +2 -2
- processed/fair_fre/metahand/right/rotatebulb/task_info.json +2 -2
- processed/fair_fre/metahand/right/scoopspoon/task_info.json +2 -2
- processed/fair_mon/allegro/right/cat/task_info.json +2 -2
- processed/fair_mon/allegro/right/coke/task_info.json +2 -2
- processed/fair_mon/assets/objects/convex/0.obj +2 -2
- processed/fair_mon/assets/objects/convex/1.obj +2 -2
- processed/fair_mon/assets/objects/convex/2.obj +2 -2
- processed/fair_mon/assets/objects/convex/3.obj +2 -2
- processed/fair_mon/assets/objects/convex/4.obj +2 -2
- processed/fair_mon/assets/objects/convex/5.obj +2 -2
- processed/fair_mon/assets/objects/convex/6.obj +2 -2
- processed/fair_mon/assets/objects/convex/7.obj +2 -2
- processed/fair_mon/assets/objects/convex/8.obj +3 -0
- processed/fair_mon/inspire/right/coke/task_info.json +2 -2
- processed/fair_mon/mano/right/cat/task_info.json +2 -2
- processed/fair_mon/mano/right/coke/task_info.json +2 -2
- processed/fair_mon/metahand/right/cat/task_info.json +2 -2
- processed/fair_mon/metahand/right/coke/task_info.json +2 -2
- processed/fair_mon/xhand/right/coke/0/trajectory_ikrollout.npz +3 -0
- processed/fair_mon/xhand/right/coke/0/trajectory_kinematic.npz +3 -0
- processed/fair_mon/xhand/right/coke/0/trajectory_mjwp.npz +3 -0
- processed/fair_mon/xhand/right/coke/0/visualization_mjwp.mp4 +3 -0
- processed/fair_mon/xhand/right/coke/scene.xml +372 -0
- processed/fair_mon/xhand/right/coke/scene_eq.xml +385 -0
- processed/fair_mon/xhand/right/coke/task_info.json +10 -0
- processed/gigahand/ability/bimanual/p36-tea/task_info.json +2 -2
- processed/gigahand/ability/bimanual/p44-dog/task_info.json +2 -2
- processed/gigahand/ability/bimanual/p52-instrument/task_info.json +2 -2
- processed/gigahand/allegro/bimanual/p36-tea/task_info.json +3 -3
- processed/gigahand/allegro/bimanual/p44-dog/task_info.json +2 -2
fair_mon/xhand_right_coke_0.npz
ADDED
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@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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oid sha256:8356915b261bacf9e3a32272785434ddac5842d2690c7f26d2c25ffe718ab718
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size 47598
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processed/fair_fre/allegro/bimanual/pour/task_info.json
CHANGED
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@@ -4,8 +4,8 @@
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"robot_type": "allegro",
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"hand_type": "bimanual",
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"data_id": 0,
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-
"right_object_mesh_dir": "
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-
"right_object_convex_dir": "
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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"robot_type": "allegro",
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"hand_type": "bimanual",
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"data_id": 0,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex",
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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processed/fair_fre/allegro/right/rotatebulb/task_info.json
CHANGED
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@@ -4,7 +4,7 @@
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"robot_type": "allegro",
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"hand_type": "right",
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"data_id": 1,
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-
"right_object_mesh_dir": "
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-
"right_object_convex_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "allegro",
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"hand_type": "right",
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"data_id": 1,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/bulb/convex",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/bimanual/pickbowl/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "bimanual",
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"data_id": 3,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "bimanual",
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"data_id": 3,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/bowl",
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"left_object_mesh_dir": null
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| 9 |
}
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processed/fair_fre/mano/bimanual/pour/task_info.json
CHANGED
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@@ -4,8 +4,8 @@
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"robot_type": "mano",
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"hand_type": "bimanual",
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"data_id": 0,
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-
"right_object_mesh_dir": "
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-
"right_object_convex_dir": "
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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"robot_type": "mano",
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"hand_type": "bimanual",
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"data_id": 0,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex",
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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processed/fair_fre/mano/right/pickcup/0/task_info.json
CHANGED
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@@ -4,7 +4,7 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 0,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null,
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-
"right_object_convex_dir": "
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 0,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null,
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex"
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}
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processed/fair_fre/mano/right/pickcup/1/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 1,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 1,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/2/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 2,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 2,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/3/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 3,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 3,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/4/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 4,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 4,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/5/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 5,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 5,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/6/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 6,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 6,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/7/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 7,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 7,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/8/task_info.json
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 8,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 8,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/pickcup/task_info.json
CHANGED
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 8,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null,
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-
"right_object_convex_dir": "
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 8,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null,
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"right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex"
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}
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processed/fair_fre/mano/right/rotate_bulb/task_info.json
CHANGED
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 0,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 0,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/rotatebulb/task_info.json
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@@ -4,7 +4,7 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 1,
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-
"right_object_mesh_dir": "
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"right_object_convex_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 1,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/bulb/convex",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/mano/right/scoopspoon/task_info.json
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@@ -4,6 +4,6 @@
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 2,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "mano",
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"hand_type": "right",
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"data_id": 2,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/spoon",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/metahand/bimanual/pour/task_info.json
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@@ -4,8 +4,8 @@
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"robot_type": "metahand",
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"hand_type": "bimanual",
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"data_id": 0,
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-
"right_object_mesh_dir": "
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-
"right_object_convex_dir": "
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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"robot_type": "metahand",
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"hand_type": "bimanual",
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"data_id": 0,
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"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex",
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"left_object_mesh_dir": null,
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"left_object_convex_dir": null
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}
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processed/fair_fre/metahand/right/pickcup/task_info.json
CHANGED
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"robot_type": "metahand",
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"hand_type": "right",
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"data_id": 0,
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-
"right_object_mesh_dir": "
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"left_object_mesh_dir": null,
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-
"right_object_convex_dir": "
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}
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"robot_type": "metahand",
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"hand_type": "right",
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"data_id": 0,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/cup",
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"left_object_mesh_dir": null,
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/cup/convex"
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}
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processed/fair_fre/metahand/right/rotatebulb/task_info.json
CHANGED
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@@ -4,7 +4,7 @@
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"robot_type": "metahand",
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"hand_type": "right",
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"data_id": 1,
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-
"right_object_mesh_dir": "
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-
"right_object_convex_dir": "
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"left_object_mesh_dir": null
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}
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"robot_type": "metahand",
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"hand_type": "right",
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"data_id": 1,
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+
"right_object_mesh_dir": "processed/fair_fre/assets/objects/bulb",
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+
"right_object_convex_dir": "processed/fair_fre/assets/objects/bulb/convex",
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"left_object_mesh_dir": null
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}
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processed/fair_fre/metahand/right/scoopspoon/task_info.json
CHANGED
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@@ -4,8 +4,8 @@
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"robot_type": "metahand",
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"hand_type": "right",
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"data_id": 2,
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-
"right_object_mesh_dir": "
|
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processed/fair_mon/allegro/right/cat/task_info.json
CHANGED
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@@ -4,7 +4,7 @@
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| 4 |
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|
| 5 |
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|
| 6 |
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| 5 |
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|
| 6 |
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|
| 8 |
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|
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|
| 10 |
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processed/fair_mon/allegro/right/coke/task_info.json
CHANGED
|
@@ -4,7 +4,7 @@
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| 4 |
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|
| 5 |
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| 6 |
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CHANGED
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processed/fair_mon/mano/right/cat/task_info.json
CHANGED
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| 4 |
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| 5 |
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CHANGED
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processed/fair_mon/metahand/right/cat/task_info.json
CHANGED
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| 5 |
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processed/fair_mon/metahand/right/coke/task_info.json
CHANGED
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ADDED
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|
| 1 |
+
<mujoco model="xhand_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
+
|
| 4 |
+
<default>
|
| 5 |
+
<joint armature="1"/>
|
| 6 |
+
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
+
<site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 8 |
+
<general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
|
| 9 |
+
</default>
|
| 10 |
+
|
| 11 |
+
<asset>
|
| 12 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 13 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 14 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 15 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
|
| 16 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 17 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 18 |
+
<mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
|
| 19 |
+
<mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
|
| 20 |
+
<mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
|
| 21 |
+
<mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
|
| 22 |
+
<mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
|
| 23 |
+
<mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
|
| 24 |
+
<mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
|
| 25 |
+
<mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
|
| 26 |
+
<mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
|
| 27 |
+
<mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
|
| 28 |
+
<mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
|
| 29 |
+
<mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
|
| 30 |
+
<mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
|
| 31 |
+
<mesh name="right_0" file="objects/convex/0.obj"/>
|
| 32 |
+
<mesh name="right_1" file="objects/convex/1.obj"/>
|
| 33 |
+
<mesh name="right_2" file="objects/convex/2.obj"/>
|
| 34 |
+
<mesh name="right_3" file="objects/convex/3.obj"/>
|
| 35 |
+
<mesh name="right_4" file="objects/convex/4.obj"/>
|
| 36 |
+
<mesh name="right_5" file="objects/convex/5.obj"/>
|
| 37 |
+
<mesh name="right_6" file="objects/convex/6.obj"/>
|
| 38 |
+
<mesh name="right_7" file="objects/convex/7.obj"/>
|
| 39 |
+
<mesh name="right_8" file="objects/convex/8.obj"/>
|
| 40 |
+
<mesh name="right_visual" file="objects/visual.obj"/>
|
| 41 |
+
</asset>
|
| 42 |
+
|
| 43 |
+
<worldbody>
|
| 44 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 45 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
|
| 46 |
+
<body name="R_forearm_ty_link">
|
| 47 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 48 |
+
<joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
|
| 49 |
+
<camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
|
| 50 |
+
<body name="R_forearm_tz_link">
|
| 51 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 52 |
+
<joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
|
| 53 |
+
<body name="R_forearm_roll_link">
|
| 54 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 55 |
+
<joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
|
| 56 |
+
<body name="R_forearm_pitch_link">
|
| 57 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 58 |
+
<joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
|
| 59 |
+
<body name="R_forearm_yaw_link">
|
| 60 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 61 |
+
<joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
|
| 62 |
+
<body name="right_hand_link">
|
| 63 |
+
<inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
|
| 64 |
+
<joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
|
| 65 |
+
<geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
|
| 66 |
+
<geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
|
| 67 |
+
<site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
|
| 68 |
+
<body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
|
| 69 |
+
<inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
|
| 70 |
+
<joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
|
| 71 |
+
<geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
|
| 72 |
+
<geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 73 |
+
<body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
|
| 74 |
+
<inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
|
| 75 |
+
<joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
|
| 76 |
+
<geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
|
| 77 |
+
<geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 78 |
+
<body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
|
| 79 |
+
<inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
|
| 80 |
+
<joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
|
| 81 |
+
<geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
|
| 82 |
+
<geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 83 |
+
<geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 84 |
+
<site name="right_thumb_tip" pos="0.0504025 0 0"/>
|
| 85 |
+
<site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
|
| 86 |
+
<site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
|
| 87 |
+
</body>
|
| 88 |
+
</body>
|
| 89 |
+
</body>
|
| 90 |
+
<body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
|
| 91 |
+
<inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
|
| 92 |
+
<joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
|
| 93 |
+
<geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
|
| 94 |
+
<body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
|
| 95 |
+
<inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 96 |
+
<joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 97 |
+
<geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
|
| 98 |
+
<geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 99 |
+
<body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
|
| 100 |
+
<inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
|
| 101 |
+
<joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 102 |
+
<geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
|
| 103 |
+
<geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 104 |
+
<geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 105 |
+
<site name="right_index_tip" pos="0 0 -0.0425"/>
|
| 106 |
+
<site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
|
| 107 |
+
<site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
|
| 108 |
+
</body>
|
| 109 |
+
</body>
|
| 110 |
+
</body>
|
| 111 |
+
<body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
|
| 112 |
+
<inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 113 |
+
<joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 114 |
+
<geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
|
| 115 |
+
<geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 116 |
+
<body name="right_hand_mid_link2" pos="0 0 -0.0558">
|
| 117 |
+
<inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
|
| 118 |
+
<joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
|
| 119 |
+
<geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
|
| 120 |
+
<geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 121 |
+
<geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 122 |
+
<site name="right_middle_tip" pos="0 0 -0.042107"/>
|
| 123 |
+
<site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
|
| 124 |
+
<site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
|
| 125 |
+
</body>
|
| 126 |
+
</body>
|
| 127 |
+
<body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
|
| 128 |
+
<inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 129 |
+
<joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 130 |
+
<geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
|
| 131 |
+
<geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 132 |
+
<body name="right_hand_ring_link2" pos="0 0 -0.0558">
|
| 133 |
+
<inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
|
| 134 |
+
<joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 135 |
+
<geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
|
| 136 |
+
<geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 137 |
+
<geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 138 |
+
<site name="right_ring_tip" pos="0 0 -0.0425"/>
|
| 139 |
+
<site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
|
| 140 |
+
<site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
|
| 141 |
+
</body>
|
| 142 |
+
</body>
|
| 143 |
+
<body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
|
| 144 |
+
<inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 145 |
+
<joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 146 |
+
<geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
|
| 147 |
+
<geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 148 |
+
<body name="right_hand_pinky_link2" pos="0 0 -0.0558">
|
| 149 |
+
<inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
|
| 150 |
+
<joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 151 |
+
<geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
|
| 152 |
+
<geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 153 |
+
<geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 154 |
+
<site name="right_pinky_tip" pos="0 0 -0.0425"/>
|
| 155 |
+
<site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
|
| 156 |
+
<site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
|
| 157 |
+
</body>
|
| 158 |
+
</body>
|
| 159 |
+
</body>
|
| 160 |
+
</body>
|
| 161 |
+
</body>
|
| 162 |
+
</body>
|
| 163 |
+
</body>
|
| 164 |
+
</body>
|
| 165 |
+
<body name="right_object">
|
| 166 |
+
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 167 |
+
<geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
|
| 168 |
+
<geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
|
| 169 |
+
<geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
|
| 170 |
+
<geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
|
| 171 |
+
<geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
|
| 172 |
+
<geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
|
| 173 |
+
<geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
|
| 174 |
+
<geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
|
| 175 |
+
<geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
|
| 176 |
+
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 177 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 178 |
+
<site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 179 |
+
<site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" group="4" rgba="0 1 0 1"/>
|
| 180 |
+
<site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" group="4" rgba="0 1 0 1"/>
|
| 181 |
+
<site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0153952" group="4" rgba="0 1 0 1"/>
|
| 182 |
+
<site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" group="4" rgba="0 1 0 1"/>
|
| 183 |
+
<site name="track_object_right_pinky_tip" pos="0.0222938 -0.0464417 0.00359782" group="4" rgba="0 1 0 1"/>
|
| 184 |
+
</body>
|
| 185 |
+
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 186 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 187 |
+
</body>
|
| 188 |
+
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 189 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 190 |
+
</body>
|
| 191 |
+
<body name="ref_object_right_index_tip" mocap="true">
|
| 192 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 193 |
+
</body>
|
| 194 |
+
<body name="ref_hand_right_index_tip" mocap="true">
|
| 195 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 196 |
+
</body>
|
| 197 |
+
<body name="ref_object_right_middle_tip" mocap="true">
|
| 198 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 199 |
+
</body>
|
| 200 |
+
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 201 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 202 |
+
</body>
|
| 203 |
+
<body name="ref_object_right_ring_tip" mocap="true">
|
| 204 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 205 |
+
</body>
|
| 206 |
+
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 207 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 208 |
+
</body>
|
| 209 |
+
<body name="ref_object_right_pinky_tip" mocap="true">
|
| 210 |
+
<site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 211 |
+
</body>
|
| 212 |
+
<body name="ref_hand_right_pinky_tip" mocap="true">
|
| 213 |
+
<site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 214 |
+
</body>
|
| 215 |
+
</worldbody>
|
| 216 |
+
|
| 217 |
+
<contact>
|
| 218 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 219 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 220 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 221 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 222 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 223 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 224 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 225 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 226 |
+
<pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
|
| 227 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 228 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 229 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 230 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 231 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 232 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 233 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 234 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 235 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 236 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 237 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 238 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 239 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 240 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 241 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 242 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 243 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 244 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 245 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 246 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 247 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 248 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 249 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 250 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 251 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 252 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 253 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 254 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 255 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 256 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 257 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 258 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 259 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 260 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 261 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 262 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 263 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 264 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 265 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 266 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 267 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 268 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 269 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 270 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 271 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 272 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 273 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 274 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 275 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 276 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 277 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 278 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 279 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 280 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 281 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 282 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 283 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 284 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 285 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 286 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 287 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 288 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 289 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 290 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 291 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 292 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 293 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 294 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 295 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 296 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 297 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 298 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 299 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 300 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 301 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 302 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 303 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 304 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 305 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 306 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 307 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 308 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 309 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 310 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 311 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 312 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 313 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 314 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 315 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 316 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 317 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 318 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 319 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 320 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 321 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 322 |
+
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 323 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 324 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 325 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 326 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 327 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 328 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 329 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 330 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 331 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 332 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 333 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 334 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 335 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 336 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 337 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 338 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 339 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 340 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 341 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 342 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 343 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 344 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 345 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 346 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 347 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 348 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 349 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 350 |
+
</contact>
|
| 351 |
+
|
| 352 |
+
<actuator>
|
| 353 |
+
<general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
|
| 354 |
+
<general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
|
| 355 |
+
<general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
|
| 356 |
+
<general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
|
| 357 |
+
<general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
|
| 358 |
+
<general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
|
| 359 |
+
<general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
|
| 360 |
+
<general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
|
| 361 |
+
<general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
|
| 362 |
+
<general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
|
| 363 |
+
<general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
|
| 364 |
+
<general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
|
| 365 |
+
<general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
|
| 366 |
+
<general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
|
| 367 |
+
<general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
|
| 368 |
+
<general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
|
| 369 |
+
<general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
|
| 370 |
+
<general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
|
| 371 |
+
</actuator>
|
| 372 |
+
</mujoco>
|
processed/fair_mon/xhand/right/coke/scene_eq.xml
ADDED
|
@@ -0,0 +1,385 @@
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|
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|
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|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
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|
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|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
<mujoco model="xhand_right">
|
| 2 |
+
<compiler angle="radian" meshdir="../../../assets/"/>
|
| 3 |
+
|
| 4 |
+
<default>
|
| 5 |
+
<joint armature="1"/>
|
| 6 |
+
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
+
<site size="0.01 0.005 0.005" group="3" rgba="1 0 0 1"/>
|
| 8 |
+
<general biastype="affine" gainprm="300" biasprm="0 -300 1"/>
|
| 9 |
+
</default>
|
| 10 |
+
|
| 11 |
+
<asset>
|
| 12 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 13 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 14 |
+
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 15 |
+
<texture type="cube" colorspace="auto" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="1800"/>
|
| 16 |
+
<material name="right_groundplane" texture="right_groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 17 |
+
<material name="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
|
| 18 |
+
<mesh name="right_hand_link" content_type="model/stl" file="robots/xhand/assets/right_hand_link.STL"/>
|
| 19 |
+
<mesh name="right_hand_thumb_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_bend_link.STL"/>
|
| 20 |
+
<mesh name="right_hand_thumb_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link1.STL"/>
|
| 21 |
+
<mesh name="right_hand_thumb_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_thumb_rota_link2.STL"/>
|
| 22 |
+
<mesh name="right_hand_index_bend_link" content_type="model/stl" file="robots/xhand/assets/right_hand_index_bend_link.STL"/>
|
| 23 |
+
<mesh name="right_hand_index_rota_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link1.STL"/>
|
| 24 |
+
<mesh name="right_hand_index_rota_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_index_rota_link2.STL"/>
|
| 25 |
+
<mesh name="right_hand_mid_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link1.STL"/>
|
| 26 |
+
<mesh name="right_hand_mid_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_mid_link2.STL"/>
|
| 27 |
+
<mesh name="right_hand_ring_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link1.STL"/>
|
| 28 |
+
<mesh name="right_hand_ring_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_ring_link2.STL"/>
|
| 29 |
+
<mesh name="right_hand_pinky_link1" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link1.STL"/>
|
| 30 |
+
<mesh name="right_hand_pinky_link2" content_type="model/stl" file="robots/xhand/assets/right_hand_pinky_link2.STL"/>
|
| 31 |
+
<mesh name="right_0" file="objects/convex/0.obj"/>
|
| 32 |
+
<mesh name="right_1" file="objects/convex/1.obj"/>
|
| 33 |
+
<mesh name="right_2" file="objects/convex/2.obj"/>
|
| 34 |
+
<mesh name="right_3" file="objects/convex/3.obj"/>
|
| 35 |
+
<mesh name="right_4" file="objects/convex/4.obj"/>
|
| 36 |
+
<mesh name="right_5" file="objects/convex/5.obj"/>
|
| 37 |
+
<mesh name="right_6" file="objects/convex/6.obj"/>
|
| 38 |
+
<mesh name="right_7" file="objects/convex/7.obj"/>
|
| 39 |
+
<mesh name="right_8" file="objects/convex/8.obj"/>
|
| 40 |
+
<mesh name="right_visual" file="objects/visual.obj"/>
|
| 41 |
+
</asset>
|
| 42 |
+
|
| 43 |
+
<worldbody>
|
| 44 |
+
<geom name="floor" size="0 0 0.05" type="plane" material="right_groundplane"/>
|
| 45 |
+
<camera name="front" pos="0.031 0.941 0.844" quat="0.0150738 0.00673439 0.407848 0.912901" mode="trackcom"/>
|
| 46 |
+
<body name="R_forearm_ty_link">
|
| 47 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 48 |
+
<joint name="R_forearm_tx_link_joint" pos="0 0 0" axis="1 0 0" type="slide" range="-5 5"/>
|
| 49 |
+
<camera name="right_track" pos="-0.868 -0.348 -0.175" quat="0.493349 0.487956 0.506363 0.51196"/>
|
| 50 |
+
<body name="R_forearm_tz_link">
|
| 51 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 52 |
+
<joint name="R_forearm_ty_link_joint" pos="0 0 0" axis="0 1 0" type="slide" range="-5 5"/>
|
| 53 |
+
<body name="R_forearm_roll_link">
|
| 54 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 55 |
+
<joint name="R_forearm_tz_link_joint" pos="0 0 0" axis="0 0 1" type="slide" range="-5 5"/>
|
| 56 |
+
<body name="R_forearm_pitch_link">
|
| 57 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 58 |
+
<joint name="R_forearm_roll_link_joint" pos="0 0 0" axis="0 0 1" range="-6.2 6.2"/>
|
| 59 |
+
<body name="R_forearm_yaw_link">
|
| 60 |
+
<inertial pos="0 0 0" mass="0.1" diaginertia="0.01 0.01 0.01"/>
|
| 61 |
+
<joint name="R_forearm_pitch_link_joint" pos="0 0 0" axis="1 0 0" range="-6.2 6.2"/>
|
| 62 |
+
<body name="right_hand_link">
|
| 63 |
+
<inertial pos="-0.0071397 0.00342244 -0.0584807" quat="0.688453 0.098553 0.0886255 0.713068" mass="0.530025" diaginertia="0.00067782 0.000491189 0.000335821"/>
|
| 64 |
+
<joint name="R_forearm_yaw_link_joint" pos="0 0 0" axis="0 -1 0" range="-6.2 6.2"/>
|
| 65 |
+
<geom name="right_hand_link_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_link"/>
|
| 66 |
+
<geom name="collision_hand_right_palm_0" size="0.03 0.02 0.04" pos="0 0 -0.06" type="box" group="3" rgba="0 1 0 1"/>
|
| 67 |
+
<site name="right_palm" pos="0 0 0" quat="0 0.707107 0.707107 0" size="0.01 0.02 0.03" type="box"/>
|
| 68 |
+
<body name="right_hand_thumb_bend_link" pos="0.0228 0.0095 -0.0305">
|
| 69 |
+
<inertial pos="0.0145291 -0.000901303 -0.000127926" quat="0.0288921 0.68936 0.0166971 0.72365" mass="0.00985529" diaginertia="1.30647e-06 1.29142e-06 5.40953e-07"/>
|
| 70 |
+
<joint name="right_hand_thumb_bend_joint" pos="0 0 0" axis="0 0 1" range="0 1.83"/>
|
| 71 |
+
<geom name="right_thumb_bend_visual" type="mesh" group="1" density="0" rgba="0.890196 0.890196 0.913725 1" mesh="right_hand_thumb_bend_link"/>
|
| 72 |
+
<geom name="collision_hand_right_thumb_2" size="0.008 0.01" pos="0.01 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 73 |
+
<body name="right_hand_thumb_rota_link1" pos="0.028599 0.0083177 0.00178" quat="0.99124 0.130499 0.00265603 0.0201745">
|
| 74 |
+
<inertial pos="0.0279237 -0.000127603 -0.000272577" quat="-0.0989965 0.703671 0.0850598 0.698435" mass="0.153265" diaginertia="5.62327e-05 4.89801e-05 2.23924e-05"/>
|
| 75 |
+
<joint name="right_hand_thumb_rota_joint1" pos="0 0 0" axis="0 1 0" range="-1.05 1.57"/>
|
| 76 |
+
<geom name="right_thumb_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_thumb_rota_link1"/>
|
| 77 |
+
<geom name="collision_hand_right_thumb_1" size="0.01 0.0275" pos="0.0275 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 78 |
+
<body name="right_hand_thumb_rota_link2" pos="0.0553 0 0">
|
| 79 |
+
<inertial pos="0.0224697 -0.000691342 0.00302232" quat="-0.0604029 0.715612 0.0198067 0.695599" mass="0.0374004" diaginertia="9.5465e-06 8.27017e-06 3.92137e-06"/>
|
| 80 |
+
<joint name="right_hand_thumb_rota_joint2" pos="0 0 0" axis="0 1 0" range="-0.175 1.83"/>
|
| 81 |
+
<geom name="right_thumb_rota2_visual" type="mesh" group="1" density="0" rgba="0.792157 0.819608 0.933333 1" mesh="right_hand_thumb_rota_link2"/>
|
| 82 |
+
<geom name="collision_hand_right_thumb_0" size="0.008 0.0225" pos="0.0225 0 0" quat="0.707107 0 -0.707107 0" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 83 |
+
<geom size="0.001" pos="0.0504025 0 0" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 84 |
+
<site name="right_thumb_tip" pos="0.0504025 0 0"/>
|
| 85 |
+
<site name="track_hand_right_thumb_tip" pos="0.0504025 0 0"/>
|
| 86 |
+
<site name="trace_hand_right_thumb_tip" pos="0.0504025 0 0"/>
|
| 87 |
+
</body>
|
| 88 |
+
</body>
|
| 89 |
+
</body>
|
| 90 |
+
<body name="right_hand_index_bend_link" pos="0.0265 0.0065 -0.0899">
|
| 91 |
+
<inertial pos="8.08449e-05 0.000675884 0.00420851" quat="0.999802 -0.0189928 -0.00582288 0.000998418" mass="0.0677836" diaginertia="2.16592e-05 2.09943e-05 3.36803e-06"/>
|
| 92 |
+
<joint name="right_hand_index_bend_joint" pos="0 0 0" axis="0 1 0" range="-0.175 0.175"/>
|
| 93 |
+
<geom name="right_index_bend_visual" type="mesh" group="1" density="0" rgba="0.439216 0.439216 0.439216 1" mesh="right_hand_index_bend_link"/>
|
| 94 |
+
<body name="right_hand_index_rota_link1" pos="0 0 -0.0178">
|
| 95 |
+
<inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566198" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 96 |
+
<joint name="right_hand_index_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 97 |
+
<geom name="right_index_rota1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_index_rota_link1"/>
|
| 98 |
+
<geom name="collision_hand_right_index_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 99 |
+
<body name="right_hand_index_rota_link2" pos="0 0 -0.0558">
|
| 100 |
+
<inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
|
| 101 |
+
<joint name="right_hand_index_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 102 |
+
<geom name="right_index_rota2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_index_rota_link2"/>
|
| 103 |
+
<geom name="collision_hand_right_index_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 104 |
+
<geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 105 |
+
<site name="right_index_tip" pos="0 0 -0.0425"/>
|
| 106 |
+
<site name="track_hand_right_index_tip" pos="0 0 -0.0425"/>
|
| 107 |
+
<site name="trace_hand_right_index_tip" pos="0 0 -0.0425"/>
|
| 108 |
+
</body>
|
| 109 |
+
</body>
|
| 110 |
+
</body>
|
| 111 |
+
<body name="right_hand_mid_link1" pos="0.004 0.0065 -0.1082">
|
| 112 |
+
<inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566199" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 113 |
+
<joint name="right_hand_mid_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 114 |
+
<geom name="right_middle_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_mid_link1"/>
|
| 115 |
+
<geom name="collision_hand_right_middle_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 116 |
+
<body name="right_hand_mid_link2" pos="0 0 -0.0558">
|
| 117 |
+
<inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588977 -0.0260883 0.35262" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
|
| 118 |
+
<joint name="right_hand_mid_joint2" pos="0 0 0" axis="1 0 0" range="0 1.94"/>
|
| 119 |
+
<geom name="right_middle_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_mid_link2"/>
|
| 120 |
+
<geom name="collision_hand_right_middle_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 121 |
+
<geom size="0.001" pos="0 0 -0.042107" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 122 |
+
<site name="right_middle_tip" pos="0 0 -0.042107"/>
|
| 123 |
+
<site name="track_hand_right_middle_tip" pos="0 0 -0.042107"/>
|
| 124 |
+
<site name="trace_hand_right_middle_tip" pos="0 0 -0.042107"/>
|
| 125 |
+
</body>
|
| 126 |
+
</body>
|
| 127 |
+
<body name="right_hand_ring_link1" pos="-0.016 0.0065 -0.1052">
|
| 128 |
+
<inertial pos="-0.00013977 -0.000800517 -0.0356039" quat="0.999865 0.00809183 -0.0131314 0.00566196" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 129 |
+
<joint name="right_hand_ring_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 130 |
+
<geom name="right_ring_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_ring_link1"/>
|
| 131 |
+
<geom name="collision_hand_right_ring_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 132 |
+
<body name="right_hand_ring_link2" pos="0 0 -0.0558">
|
| 133 |
+
<inertial pos="-0.000338573 1.93622e-05 -0.0231328" quat="0.935372 0.00588872 -0.0260882 0.352652" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82702e-07"/>
|
| 134 |
+
<joint name="right_hand_ring_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 135 |
+
<geom name="right_ring_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_ring_link2"/>
|
| 136 |
+
<geom name="collision_hand_right_ring_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 137 |
+
<geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 138 |
+
<site name="right_ring_tip" pos="0 0 -0.0425"/>
|
| 139 |
+
<site name="track_hand_right_ring_tip" pos="0 0 -0.0425"/>
|
| 140 |
+
<site name="trace_hand_right_ring_tip" pos="0 0 -0.0425"/>
|
| 141 |
+
</body>
|
| 142 |
+
</body>
|
| 143 |
+
<body name="right_hand_pinky_link1" pos="-0.036 0.0065 -0.1022">
|
| 144 |
+
<inertial pos="-0.000139769 -0.000800517 -0.0356039" quat="0.999865 0.00809181 -0.0131314 0.00566204" mass="0.0630216" diaginertia="2.05301e-05 1.92461e-05 4.135e-06"/>
|
| 145 |
+
<joint name="right_hand_pinky_joint1" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 146 |
+
<geom name="right_pinky_link1_visual" type="mesh" group="1" density="0" rgba="1 1 1 1" mesh="right_hand_pinky_link1"/>
|
| 147 |
+
<geom name="collision_hand_right_pinky_1" size="0.008 0.0275" pos="0 0 -0.0275" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 148 |
+
<body name="right_hand_pinky_link2" pos="0 0 -0.0558">
|
| 149 |
+
<inertial pos="-0.000338569 1.93676e-05 -0.0231329" quat="0.935384 0.00588976 -0.0260883 0.352621" mass="0.0179923" diaginertia="3.02409e-06 3.01968e-06 9.82703e-07"/>
|
| 150 |
+
<joint name="right_hand_pinky_joint2" pos="0 0 0" axis="1 0 0" range="0 1.92"/>
|
| 151 |
+
<geom name="right_pinky_link2_visual" type="mesh" group="1" density="0" rgba="0.866667 0.866667 0.890196 1" mesh="right_hand_pinky_link2"/>
|
| 152 |
+
<geom name="collision_hand_right_pinky_0" size="0.008 0.015" pos="0 0 -0.015" type="capsule" group="3" rgba="0 1 0 1"/>
|
| 153 |
+
<geom size="0.001" pos="0 0 -0.0425" group="1" density="0" rgba="0.698039 0.698039 0.698039 1"/>
|
| 154 |
+
<site name="right_pinky_tip" pos="0 0 -0.0425"/>
|
| 155 |
+
<site name="track_hand_right_pinky_tip" pos="0 0 -0.0425"/>
|
| 156 |
+
<site name="trace_hand_right_pinky_tip" pos="0 0 -0.0425"/>
|
| 157 |
+
</body>
|
| 158 |
+
</body>
|
| 159 |
+
</body>
|
| 160 |
+
</body>
|
| 161 |
+
</body>
|
| 162 |
+
</body>
|
| 163 |
+
</body>
|
| 164 |
+
</body>
|
| 165 |
+
<body name="right_object">
|
| 166 |
+
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 167 |
+
<geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
|
| 168 |
+
<geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
|
| 169 |
+
<geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
|
| 170 |
+
<geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
|
| 171 |
+
<geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
|
| 172 |
+
<geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
|
| 173 |
+
<geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
|
| 174 |
+
<geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
|
| 175 |
+
<geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
|
| 176 |
+
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 177 |
+
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 178 |
+
<site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 179 |
+
<site name="track_object_right_thumb_tip" pos="-0.0244631 -0.00102834 0.0226112" group="4" rgba="0 1 0 1"/>
|
| 180 |
+
<site name="track_object_right_index_tip" pos="0.0300984 0.0159805 0.0414208" group="4" rgba="0 1 0 1"/>
|
| 181 |
+
<site name="track_object_right_middle_tip" pos="0.0368511 -0.00150362 0.0153952" group="4" rgba="0 1 0 1"/>
|
| 182 |
+
<site name="track_object_right_ring_tip" pos="0.0261251 -0.0192511 0.00822949" group="4" rgba="0 1 0 1"/>
|
| 183 |
+
<site name="track_object_right_pinky_tip" pos="0.0222938 -0.0464417 0.00359782" group="4" rgba="0 1 0 1"/>
|
| 184 |
+
</body>
|
| 185 |
+
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 186 |
+
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 187 |
+
</body>
|
| 188 |
+
<body name="ref_hand_right_thumb_tip" mocap="true">
|
| 189 |
+
<site name="ref_hand_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 190 |
+
</body>
|
| 191 |
+
<body name="ref_object_right_index_tip" mocap="true">
|
| 192 |
+
<site name="ref_object_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 193 |
+
</body>
|
| 194 |
+
<body name="ref_hand_right_index_tip" mocap="true">
|
| 195 |
+
<site name="ref_hand_right_index_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 196 |
+
</body>
|
| 197 |
+
<body name="ref_object_right_middle_tip" mocap="true">
|
| 198 |
+
<site name="ref_object_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 199 |
+
</body>
|
| 200 |
+
<body name="ref_hand_right_middle_tip" mocap="true">
|
| 201 |
+
<site name="ref_hand_right_middle_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 202 |
+
</body>
|
| 203 |
+
<body name="ref_object_right_ring_tip" mocap="true">
|
| 204 |
+
<site name="ref_object_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 205 |
+
</body>
|
| 206 |
+
<body name="ref_hand_right_ring_tip" mocap="true">
|
| 207 |
+
<site name="ref_hand_right_ring_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 208 |
+
</body>
|
| 209 |
+
<body name="ref_object_right_pinky_tip" mocap="true">
|
| 210 |
+
<site name="ref_object_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 211 |
+
</body>
|
| 212 |
+
<body name="ref_hand_right_pinky_tip" mocap="true">
|
| 213 |
+
<site name="ref_hand_right_pinky_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
| 214 |
+
</body>
|
| 215 |
+
</worldbody>
|
| 216 |
+
|
| 217 |
+
<contact>
|
| 218 |
+
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 219 |
+
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 220 |
+
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 221 |
+
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 222 |
+
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 223 |
+
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 224 |
+
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 225 |
+
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 226 |
+
<pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
|
| 227 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 228 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 229 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 230 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_palm_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 231 |
+
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_palm_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 232 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_0" name="collision_hand_right_palm_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 233 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 234 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 235 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_3" name="collision_hand_right_palm_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 236 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_4" name="collision_hand_right_palm_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 237 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_5" name="collision_hand_right_palm_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 238 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_6" name="collision_hand_right_palm_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 239 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 240 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 241 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_0" name="collision_hand_right_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 242 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_1" name="collision_hand_right_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 243 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_2" name="collision_hand_right_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 244 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_3" name="collision_hand_right_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 245 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_4" name="collision_hand_right_thumb_2_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 246 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_5" name="collision_hand_right_thumb_2_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 247 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_6" name="collision_hand_right_thumb_2_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 248 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_7" name="collision_hand_right_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 249 |
+
<pair geom1="collision_hand_right_thumb_2" geom2="right_object_8" name="collision_hand_right_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 250 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_0" name="collision_hand_right_thumb_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 251 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_1" name="collision_hand_right_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 252 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_2" name="collision_hand_right_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 253 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_3" name="collision_hand_right_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 254 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_4" name="collision_hand_right_thumb_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 255 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_5" name="collision_hand_right_thumb_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 256 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_6" name="collision_hand_right_thumb_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 257 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_7" name="collision_hand_right_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 258 |
+
<pair geom1="collision_hand_right_thumb_1" geom2="right_object_8" name="collision_hand_right_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 259 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 260 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 261 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 262 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_thumb_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 263 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 264 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 265 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 266 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 267 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 268 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 269 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 270 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 271 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 272 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 273 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 274 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 275 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 276 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 277 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 278 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 279 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 280 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 281 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 282 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 283 |
+
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 284 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 285 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 286 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 287 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 288 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 289 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 290 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 291 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 292 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 293 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 294 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 295 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 296 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 297 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 298 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 299 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 300 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 301 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 302 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 303 |
+
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 304 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 305 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 306 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 307 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 308 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 309 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 310 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 311 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 312 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 313 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 314 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 315 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 316 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 317 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 318 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 319 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 320 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 321 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 322 |
+
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 323 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 324 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 325 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 326 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 327 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 328 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 329 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 330 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 331 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 332 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 333 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 334 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 335 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 336 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 337 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 338 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 339 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 340 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 341 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 342 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 343 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 344 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 345 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 346 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 347 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 348 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 349 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 350 |
+
</contact>
|
| 351 |
+
|
| 352 |
+
<equality>
|
| 353 |
+
<connect name="track_hand_right_thumb_tip_equality_constraint" site1="track_hand_right_thumb_tip" site2="ref_hand_right_thumb_tip" solimp="0 1 100"/>
|
| 354 |
+
<connect name="track_hand_right_index_tip_equality_constraint" site1="track_hand_right_index_tip" site2="ref_hand_right_index_tip" solimp="0 1 100"/>
|
| 355 |
+
<connect name="track_hand_right_middle_tip_equality_constraint" site1="track_hand_right_middle_tip" site2="ref_hand_right_middle_tip" solimp="0 1 100"/>
|
| 356 |
+
<connect name="track_hand_right_ring_tip_equality_constraint" site1="track_hand_right_ring_tip" site2="ref_hand_right_ring_tip" solimp="0 1 100"/>
|
| 357 |
+
<connect name="track_hand_right_pinky_tip_equality_constraint" site1="track_hand_right_pinky_tip" site2="ref_hand_right_pinky_tip" solimp="0 1 100"/>
|
| 358 |
+
<connect name="track_object_right_thumb_tip_equality_constraint" site1="track_object_right_thumb_tip" site2="ref_object_right_thumb_tip" solimp="0 1 100"/>
|
| 359 |
+
<connect name="track_object_right_index_tip_equality_constraint" site1="track_object_right_index_tip" site2="ref_object_right_index_tip" solimp="0 1 100"/>
|
| 360 |
+
<connect name="track_object_right_middle_tip_equality_constraint" site1="track_object_right_middle_tip" site2="ref_object_right_middle_tip" solimp="0 1 100"/>
|
| 361 |
+
<connect name="track_object_right_ring_tip_equality_constraint" site1="track_object_right_ring_tip" site2="ref_object_right_ring_tip" solimp="0 1 100"/>
|
| 362 |
+
<connect name="track_object_right_pinky_tip_equality_constraint" site1="track_object_right_pinky_tip" site2="ref_object_right_pinky_tip" solimp="0 1 100"/>
|
| 363 |
+
</equality>
|
| 364 |
+
|
| 365 |
+
<actuator>
|
| 366 |
+
<general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
|
| 367 |
+
<general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
|
| 368 |
+
<general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5" gainprm="1000" biasprm="0 -1000"/>
|
| 369 |
+
<general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
|
| 370 |
+
<general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
|
| 371 |
+
<general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2" gainprm="1000" biasprm="0 -1000"/>
|
| 372 |
+
<general name="right_thumb_bend_position" joint="right_hand_thumb_bend_joint" ctrlrange="0 1.83"/>
|
| 373 |
+
<general name="right_thumb_rota1_position" joint="right_hand_thumb_rota_joint1" ctrlrange="-1.05 1.57"/>
|
| 374 |
+
<general name="right_thumb_rota2_position" joint="right_hand_thumb_rota_joint2" ctrlrange="-0.175 1.83"/>
|
| 375 |
+
<general name="right_index_bend_position" joint="right_hand_index_bend_joint" ctrlrange="-0.175 0.175"/>
|
| 376 |
+
<general name="right_index_joint1_position" joint="right_hand_index_joint1" ctrlrange="0 1.92"/>
|
| 377 |
+
<general name="right_index_joint2_position" joint="right_hand_index_joint2" ctrlrange="0 1.92"/>
|
| 378 |
+
<general name="right_middle_joint1_position" joint="right_hand_mid_joint1" ctrlrange="0 1.92"/>
|
| 379 |
+
<general name="right_middle_joint2_position" joint="right_hand_mid_joint2" ctrlrange="0 1.94"/>
|
| 380 |
+
<general name="right_ring_joint1_position" joint="right_hand_ring_joint1" ctrlrange="0 1.92"/>
|
| 381 |
+
<general name="right_ring_joint2_position" joint="right_hand_ring_joint2" ctrlrange="0 1.92"/>
|
| 382 |
+
<general name="right_pinky_joint1_position" joint="right_hand_pinky_joint1" ctrlrange="0 1.92"/>
|
| 383 |
+
<general name="right_pinky_joint2_position" joint="right_hand_pinky_joint2" ctrlrange="0 1.92"/>
|
| 384 |
+
</actuator>
|
| 385 |
+
</mujoco>
|
processed/fair_mon/xhand/right/coke/task_info.json
ADDED
|
@@ -0,0 +1,10 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "coke",
|
| 3 |
+
"dataset_name": "fair_mon",
|
| 4 |
+
"robot_type": "xhand",
|
| 5 |
+
"embodiment_type": "right",
|
| 6 |
+
"data_id": 0,
|
| 7 |
+
"right_object_mesh_dir": "processed/fair_mon/assets/objects/",
|
| 8 |
+
"left_object_mesh_dir": null,
|
| 9 |
+
"right_object_convex_dir": "processed/fair_mon/assets/objects/convex"
|
| 10 |
+
}
|
processed/gigahand/ability/bimanual/p36-tea/task_info.json
CHANGED
|
@@ -4,8 +4,8 @@
|
|
| 4 |
"robot_type": "ability",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 10,
|
| 7 |
-
"right_object_mesh_dir": "
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
"ref_dt": 0.02,
|
| 10 |
-
"right_object_convex_dir": "
|
| 11 |
}
|
|
|
|
| 4 |
"robot_type": "ability",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 10,
|
| 7 |
+
"right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
"ref_dt": 0.02,
|
| 10 |
+
"right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
|
| 11 |
}
|
processed/gigahand/ability/bimanual/p44-dog/task_info.json
CHANGED
|
@@ -4,7 +4,7 @@
|
|
| 4 |
"robot_type": "ability",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 4,
|
| 7 |
-
"right_object_mesh_dir": "
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
-
"right_object_convex_dir": "
|
| 10 |
}
|
|
|
|
| 4 |
"robot_type": "ability",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 4,
|
| 7 |
+
"right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
+
"right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
|
| 10 |
}
|
processed/gigahand/ability/bimanual/p52-instrument/task_info.json
CHANGED
|
@@ -4,8 +4,8 @@
|
|
| 4 |
"robot_type": "ability",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 34,
|
| 7 |
-
"right_object_mesh_dir": "
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
"ref_dt": 0.02,
|
| 10 |
-
"right_object_convex_dir": "
|
| 11 |
}
|
|
|
|
| 4 |
"robot_type": "ability",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 34,
|
| 7 |
+
"right_object_mesh_dir": "processed/gigahand/assets/objects/p52-instrument",
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
"ref_dt": 0.02,
|
| 10 |
+
"right_object_convex_dir": "processed/gigahand/assets/objects/p52-instrument/convex"
|
| 11 |
}
|
processed/gigahand/allegro/bimanual/p36-tea/task_info.json
CHANGED
|
@@ -4,8 +4,8 @@
|
|
| 4 |
"robot_type": "allegro",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 10,
|
| 7 |
-
"right_object_mesh_dir": "
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
"ref_dt": 0.02,
|
| 10 |
-
"right_object_convex_dir": "
|
| 11 |
-
}
|
|
|
|
| 4 |
"robot_type": "allegro",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 10,
|
| 7 |
+
"right_object_mesh_dir": "processed/gigahand/assets/objects/p36-tea",
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
"ref_dt": 0.02,
|
| 10 |
+
"right_object_convex_dir": "processed/gigahand/assets/objects/p36-tea/convex"
|
| 11 |
+
}
|
processed/gigahand/allegro/bimanual/p44-dog/task_info.json
CHANGED
|
@@ -4,7 +4,7 @@
|
|
| 4 |
"robot_type": "allegro",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 4,
|
| 7 |
-
"right_object_mesh_dir": "
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
-
"right_object_convex_dir": "
|
| 10 |
}
|
|
|
|
| 4 |
"robot_type": "allegro",
|
| 5 |
"hand_type": "bimanual",
|
| 6 |
"data_id": 4,
|
| 7 |
+
"right_object_mesh_dir": "processed/gigahand/assets/objects/p44-dog",
|
| 8 |
"left_object_mesh_dir": null,
|
| 9 |
+
"right_object_convex_dir": "processed/gigahand/assets/objects/p44-dog/convex"
|
| 10 |
}
|