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<mujoco> |
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<size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size> |
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<visual> |
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<map fogstart="3" fogend="5" force="0.1"></map> |
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<quality shadowsize="4096"></quality> |
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</visual> |
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<default> |
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<default class="robot0:asset_class"> |
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<geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom> |
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<joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint> |
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<site size="0.005" rgba="0.4 0.9 0.4 1"></site> |
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<general ctrllimited="true" forcelimited="true"></general> |
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</default> |
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<default class="robot0:D_Touch"> |
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<site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site> |
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</default> |
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<default class="robot0:DC_Hand"> |
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<geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom> |
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</default> |
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<default class="robot0:D_Vizual"> |
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<geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom> |
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</default> |
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<default class="robot0:free"> |
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<joint type="free" damping="0" armature="0" limited="false"></joint> |
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</default> |
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</default> |
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<contact> |
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<pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfdistal" geom2="robot0:C_ffdistal" condim="1"></pair> |
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<pair geom1="robot0:C_rfdistal" geom2="robot0:C_mfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_mfproximal" geom2="robot0:C_ffproximal" condim="1"></pair> |
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<pair geom1="robot0:C_rfproximal" geom2="robot0:C_mfproximal" condim="1"></pair> |
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<pair geom1="robot0:C_lfproximal" geom2="robot0:C_rfproximal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_mfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfmiddle" condim="1"></pair> |
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<pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfdistal" condim="1"></pair> |
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<pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfmiddle" condim="1"></pair> |
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</contact> |
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<tendon> |
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<fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:FFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:FFJ1" coef="-0.00805"></joint> |
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</fixed> |
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<fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:MFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:MFJ1" coef="-0.00805"></joint> |
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</fixed> |
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<fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:RFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:RFJ1" coef="-0.00805"></joint> |
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</fixed> |
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<fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001"> |
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<joint joint="robot0:LFJ0" coef="0.00705"></joint> |
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<joint joint="robot0:LFJ1" coef="-0.00805"></joint> |
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</fixed> |
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</tendon> |
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<sensor> |
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<jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos> |
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<jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ3" joint="robot0:FFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ2" joint="robot0:FFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ1" joint="robot0:FFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_FFJ0" joint="robot0:FFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ3" joint="robot0:MFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ2" joint="robot0:MFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ1" joint="robot0:MFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_MFJ0" joint="robot0:MFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ3" joint="robot0:RFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ2" joint="robot0:RFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ1" joint="robot0:RFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_RFJ0" joint="robot0:RFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ4" joint="robot0:LFJ4"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ3" joint="robot0:LFJ3"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ2" joint="robot0:LFJ2"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ1" joint="robot0:LFJ1"></jointpos> |
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<jointpos name="robot0:Sjp_LFJ0" joint="robot0:LFJ0"></jointpos> |
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<jointpos name="robot0:Sjp_THJ4" joint="robot0:THJ4"></jointpos> |
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<jointpos name="robot0:Sjp_THJ3" joint="robot0:THJ3"></jointpos> |
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<jointpos name="robot0:Sjp_THJ2" joint="robot0:THJ2"></jointpos> |
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<jointpos name="robot0:Sjp_THJ1" joint="robot0:THJ1"></jointpos> |
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<jointpos name="robot0:Sjp_THJ0" joint="robot0:THJ0"></jointpos> |
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<touch name="robot0:ST_Tch_fftip" site="robot0:Tch_fftip"></touch> |
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<touch name="robot0:ST_Tch_mftip" site="robot0:Tch_mftip"></touch> |
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<touch name="robot0:ST_Tch_rftip" site="robot0:Tch_rftip"></touch> |
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<touch name="robot0:ST_Tch_lftip" site="robot0:Tch_lftip"></touch> |
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<touch name="robot0:ST_Tch_thtip" site="robot0:Tch_thtip"></touch> |
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</sensor> |
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<actuator> |
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<position name="robot0:A_WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position> |
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<position name="robot0:A_WRJ0" class="robot0:asset_class" user="2036" joint="robot0:WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position> |
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<position name="robot0:A_FFJ3" class="robot0:asset_class" user="2004" joint="robot0:FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_FFJ2" class="robot0:asset_class" user="2002" joint="robot0:FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_FFJ1" class="robot0:asset_class" user="2000" joint="robot0:FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:A_MFJ3" class="robot0:asset_class" user="2010" joint="robot0:MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_MFJ2" class="robot0:asset_class" user="2008" joint="robot0:MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_MFJ1" class="robot0:asset_class" user="2006" joint="robot0:MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:A_RFJ3" class="robot0:asset_class" user="2016" joint="robot0:RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_RFJ2" class="robot0:asset_class" user="2014" joint="robot0:RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_RFJ1" class="robot0:asset_class" user="2012" joint="robot0:RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:A_LFJ4" class="robot0:asset_class" user="2024" joint="robot0:LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_LFJ3" class="robot0:asset_class" user="2022" joint="robot0:LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_LFJ2" class="robot0:asset_class" user="2020" joint="robot0:LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position> |
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<position name="robot0:A_LFJ1" class="robot0:asset_class" user="2018" joint="robot0:LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position> |
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<position name="robot0:A_THJ4" class="robot0:asset_class" user="2034" joint="robot0:THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position> |
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<position name="robot0:A_THJ3" class="robot0:asset_class" user="2032" joint="robot0:THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position> |
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<position name="robot0:A_THJ2" class="robot0:asset_class" user="2030" joint="robot0:THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position> |
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<position name="robot0:A_THJ1" class="robot0:asset_class" user="2028" joint="robot0:THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position> |
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<position name="robot0:A_THJ0" class="robot0:asset_class" user="2026" joint="robot0:THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position> |
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</actuator> |
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</mujoco> |
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