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<default class="knee"> |
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<position forcerange="-18 18" kp="100" kv="2"/> |
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<position forcerange="-18 18" kp="100" kv="2"/> |
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<asset> |
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rgb1="0.6 0.8 1" rgb2="0.1 0.4 0.8" |
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width="512" height="3072"/> |
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</asset> |
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<worldbody> |
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ambient="0.3 0.3 0.3" diffuse="0.7 0.7 0.7" specular="0.1 0.1 0.1"/> |
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<camera name="cam_kitchen" pos="-0.3 -2.5 2.5" xyaxes="1 0 0 0 0.5 1"/> |
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<site name="com" pos="0 0 0" rgba="1 0 0 0" size="0.01"/> |
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<camera name="cam_maze" pos="3 3 3" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/> |
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<camera name="cam_tabletop" pos="2.5 2 1.5" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/> |
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<camera name="cam_hurdle" pos="-3 3 3" mode="trackcom" xyaxes="-0.5 -0.5 0 0.4 -0.4 1"/> |
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<camera name="cam_basketball" pos="-1.8 3.5 3" mode="trackcom" xyaxes="-0.4 -0.5 0 0.4 -0.4 1"/> |
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diaginertia="0.0490211 0.0445821 0.00824619"/> |
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diaginertia="0.00304494 0.00296885 0.00189201"/> |
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diaginertia="0.00243264 0.00225325 0.00205492"/> |
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diaginertia="0.0829503 0.0821457 0.00510909"/> |
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<geom class="collision" mesh="left_hip_pitch_link"/> |
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diaginertia="0.0125237 0.0123104 0.0019428"/> |
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<joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/> |
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<geom class="visual" mesh="left_knee_link"/> |
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<geom class="collision" mesh="left_knee_link"/> |
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<body name="left_ankle_link" pos="0 0 -0.4"> |
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diaginertia="0.00362 0.00355701 0.000149987"/> |
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<geom class="visual" mesh="left_ankle_link"/> |
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<site name="left_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/> |
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<geom class="collision" mesh="left_ankle_link"/> |
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</body> |
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diaginertia="0.00304494 0.00296885 0.00189201"/> |
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diaginertia="0.00243264 0.00225325 0.00205492"/> |
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diaginertia="0.0829503 0.0821457 0.00510909"/> |
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diaginertia="0.0125237 0.0123104 0.0019428"/> |
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<joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/> |
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<geom class="visual" mesh="right_knee_link"/> |
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<geom class="collision" mesh="right_knee_link"/> |
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<body name="right_ankle_link" pos="0 0 -0.4"> |
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diaginertia="0.00362 0.00355701 0.000149987"/> |
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<joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/> |
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<geom class="visual" mesh="right_ankle_link"/> |
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<site name="right_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/> |
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<geom class="collision" mesh="right_ankle_link"/> |
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</body> |
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</body> |
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</body> |
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<body name="torso_link"> |
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<camera name="left_eye_camera" pos="0.1 0.03 0.65" xyaxes="0 -1 0 0 0 1"/> |
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<site name="right_eye" pos="0.1 -0.03 0.65" rgba="1 1 1 1" size="0.01" zaxis="1 0 0" group="1"/> |
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<camera name="right_eye_camera" pos="0.1 -0.03 0.65" xyaxes="0 -1 0 0 0 1"/> |
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<inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789" |
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diaginertia="0.487315 0.409628 0.127837"/> |
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<joint name="torso" axis="0 0 1" range="-2.35 2.35"/> |
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<geom class="visual" mesh="torso_link"/> |
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<geom class="collision" mesh="torso_link"/> |
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<geom class="visual" material="white" mesh="logo_link"/> |
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<site name="head" class="visual" size="0.01" pos="0 0 0.7" rgba="1 1 1 1"/> |
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<site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/> |
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diaginertia="0.00129936 0.000987113 0.000858198"/> |
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<joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/> |
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<geom class="visual" mesh="left_shoulder_pitch_link"/> |
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<geom class="collision" mesh="left_shoulder_pitch_link"/> |
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<body name="left_shoulder_roll_link" pos="-0.0055 0.0565 -0.0165" quat="0.976296 -0.216438 0 0"> |
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<inertial pos="0.000679 0.00115 -0.094076" quat="0.732491 0.00917179 0.0766656 0.676384" mass="0.793" |
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diaginertia="0.00170388 0.00158256 0.00100336"/> |
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<joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/> |
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<geom class="visual" mesh="left_shoulder_roll_link"/> |
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<geom class="collision" mesh="left_shoulder_roll_link"/> |
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<body name="left_shoulder_yaw_link" pos="0 0 -0.1343"> |
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<inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839" |
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diaginertia="0.00408038 0.00370367 0.000622687"/> |
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<joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/> |
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<geom class="visual" mesh="left_shoulder_yaw_link"/> |
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<geom class="collision" mesh="left_shoulder_yaw_link"/> |
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<body name="left_elbow_link" pos="0.0185 0 -0.198"> |
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<inertial pos="0.15908 -0.000144 -0.015776" quat="0.0765232 0.720327 0.0853116 0.684102" mass="0.669" |
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diaginertia="0.00601829 0.00600579 0.000408305"/> |
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<joint name="left_elbow" pos="0 0 0" axis="0 1 0" range="-1.25 2.61"/> |
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<geom class="visual" mesh="left_elbow_link"/> |
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<geom class="collision" mesh="left_elbow_link"/> |
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<site name="left_hand" pos="0.2605 0 -0.0185" rgba="0 1 0 1" size="0.01"/> |
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<body name="left_hand_link" pos="0.2605 0 -0.0185"> |
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<inertial pos="0.0631874 -0.00232969 -0.00176135" quat="0.509356 0.489591 0.510242 0.490418" mass="0.15543" diaginertia="0.000179349 0.000133079 8.74084e-05"/> |
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<joint name="left_hand" pos="0 0 0" axis="1 0 0" range="-3.05433 3.05433" damping="0.5" frictionloss="0.1"/> |
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<geom type="mesh" class="visual" mesh="left_hand_link"/> |
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<geom type="mesh" class="collision" mesh="left_hand_link"/> |
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<geom pos="0.003 0 0" quat="0.707107 0 0 0.707107" type="mesh" class="visual" mesh="L_hand_base_link"/> |
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<geom pos="0.003 0 0" quat="0.707107 0 0 0.707107" type="mesh" class="collision" mesh="L_hand_base_link"/> |
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<body name="L_thumb_proximal_base" pos="0.0721 -0.01696 0.02045" quat="-2.59735e-06 0.707107 0 0.707107"> |
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<inertial pos="0.0048817 0.00038782 -0.00722" quat="0.445981 0.352284 0.495833 0.656617" mass="0.0018869" diaginertia="8.66031e-08 6.87331e-08 4.94199e-08"/> |
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<joint name="L_thumb_proximal_yaw" pos="0 0 0" axis="0 0 1" range="-0.1 1.3" damping="0.5" frictionloss="0.1"/> |
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<geom type="mesh" class="visual" mesh="Link11_L"/> |
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<geom type="mesh" class="collision" mesh="Link11_L"/> |
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<body name="L_thumb_proximal" pos="0.0099867 0.0098242 -0.0089" quat="0.704571 -0.704573 -0.0598169 0.0598167"> |
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<inertial pos="0.021936 -0.01279 -0.0080386" quat="0.25452 0.660687 -0.251949 0.659723" mass="0.0066101" diaginertia="2.78701e-06 2.44024e-06 8.6466e-07"/> |
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<joint name="L_thumb_proximal_pitch" pos="0 0 0" axis="0 0 -1" range="-0.1 0.6" damping="0.5" frictionloss="0.1"/> |
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<geom type="mesh" class="visual" mesh="Link12_L"/> |
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<geom type="mesh" class="collision" mesh="Link12_L"/> |
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<body name="L_thumb_intermediate" pos="0.04407 -0.034553 -0.0008"> |
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<inertial pos="0.0095531 0.0016282 -0.0072002" quat="0.30738 0.636732 -0.307526 0.636803" mass="0.0037844" diaginertia="4.6532e-07 4.48114e-07 2.45646e-07"/> |
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<joint name="L_thumb_intermediate" pos="0 0 0" axis="0 0 -1" range="0 0.8" damping="0.5" frictionloss="0.1"/> |
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<geom type="mesh" class="visual" mesh="Link13_L"/> |
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<geom type="mesh" class="collision" mesh="Link13_L"/> |
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<body name="L_thumb_distal" pos="0.020248 -0.010156 -0.0012"> |
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<inertial pos="0.0092888 -0.004953 -0.0060033" quat="0.266264 0.65596 -0.262836 0.655544" mass="0.003344" diaginertia="2.0026e-07 1.95246e-07 8.1594e-08"/> |
|
|
<joint name="L_thumb_distal" pos="0 0 0" axis="0 0 -1" range="0 1.2" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link14_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link14_L"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="L_index_proximal" pos="0.13953 0.00028533 0.032268" quat="0.706999 -0.0123409 -0.0123409 0.706999"> |
|
|
<inertial pos="0.0012971 -0.011934 -0.0059998" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> |
|
|
<joint name="L_index_proximal" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.1 0.1 0.1 11" mesh="Link15_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link15_L"/> |
|
|
<body name="L_index_intermediate" pos="-0.0024229 -0.032041 -0.001"> |
|
|
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469555 -0.528694 0.469555" mass="0.0045682" diaginertia="7.8176e-07 7.72427e-07 8.47209e-08"/> |
|
|
<joint name="L_index_intermediate" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link16_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link16_L"/> |
|
|
</body> |
|
|
</body> |
|
|
<body name="L_middle_proximal" pos="0.1401 0.00028533 0.01295" quat="0.707107 0 0 0.707107"> |
|
|
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510115 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> |
|
|
<joint name="L_middle_proximal" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link17_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link17_L"/> |
|
|
<body name="L_middle_intermediate" pos="-0.0024229 -0.032041 -0.001"> |
|
|
<inertial pos="0.001921 -0.020796 -0.0049999" quat="0.531603 0.466115 -0.531728 0.466262" mass="0.0050397" diaginertia="9.8385e-07 9.73288e-07 9.14016e-08"/> |
|
|
<joint name="L_middle_intermediate" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link18_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link18_L"/> |
|
|
</body> |
|
|
</body> |
|
|
<body name="L_ring_proximal" pos="0.13991 0.00028533 -0.0062872" quat="0.706864 0.0185099 0.0185099 0.706864"> |
|
|
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> |
|
|
<joint name="L_ring_proximal" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link19_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link19_L"/> |
|
|
<body name="L_ring_intermediate" pos="-0.0024229 -0.032041 -0.001"> |
|
|
<inertial pos="0.0021753 -0.019567 -0.005" quat="0.528694 0.469556 -0.528694 0.469556" mass="0.0045682" diaginertia="7.8176e-07 7.72437e-07 8.47208e-08"/> |
|
|
<joint name="L_ring_intermediate" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link20_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link20_L"/> |
|
|
</body> |
|
|
</body> |
|
|
<body name="L_pinky_proximal" pos="0.13871 0.00028533 -0.025488" quat="0.706138 0.0370072 0.0370072 0.706138"> |
|
|
<inertial pos="0.0012971 -0.011934 -0.0059999" quat="0.489677 0.510114 -0.489692 0.510099" mass="0.0042405" diaginertia="6.9402e-07 6.62904e-07 2.10916e-07"/> |
|
|
<joint name="L_pinky_proximal" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link21_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link21_L"/> |
|
|
<body name="L_pinky_intermediate" pos="-0.0024229 -0.032041 -0.001"> |
|
|
<inertial pos="0.0024788 -0.016208 -0.0050001" quat="0.526797 0.471683 -0.526793 0.471687" mass="0.0036036" diaginertia="4.4881e-07 4.43809e-07 6.5736e-08"/> |
|
|
<joint name="L_pinky_intermediate" pos="0 0 0" axis="0 0 -1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link22_L"/> |
|
|
<geom type="mesh" class="collision" mesh="Link22_L"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="right_shoulder_pitch_link" pos="0.0055 -0.15535 0.42999" quat="0.976296 -0.216438 0 0"> |
|
|
<inertial pos="0.005045 -0.053657 -0.015715" quat="0.579236 0.814858 0.00936488 0.0201072" mass="1.033" |
|
|
diaginertia="0.00129936 0.000987113 0.000858198"/> |
|
|
<joint name="right_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/> |
|
|
<geom class="visual" mesh="right_shoulder_pitch_link"/> |
|
|
<geom class="collision" mesh="right_shoulder_pitch_link"/> |
|
|
<body name="right_shoulder_roll_link" pos="-0.0055 -0.0565 -0.0165" quat="0.976296 0.216438 0 0"> |
|
|
<inertial pos="0.000679 -0.00115 -0.094076" quat="0.676384 0.0766656 0.00917179 0.732491" mass="0.793" |
|
|
diaginertia="0.00170388 0.00158256 0.00100336"/> |
|
|
<joint name="right_shoulder_roll" axis="1 0 0" range="-3.11 0.34"/> |
|
|
<geom class="visual" mesh="right_shoulder_roll_link"/> |
|
|
<geom class="collision" mesh="right_shoulder_roll_link"/> |
|
|
<body name="right_shoulder_yaw_link" pos="0 0 -0.1343"> |
|
|
<inertial pos="0.01365 -0.002767 -0.16266" quat="0.708798 -0.0473362 -0.0331229 0.703042" mass="0.839" |
|
|
diaginertia="0.00408038 0.00370367 0.000622687"/> |
|
|
<joint name="right_shoulder_yaw" axis="0 0 1" range="-4.45 1.3"/> |
|
|
<geom class="visual" mesh="right_shoulder_yaw_link"/> |
|
|
<geom class="collision" mesh="right_shoulder_yaw_link"/> |
|
|
<body name="right_elbow_link" pos="0.0185 0 -0.198"> |
|
|
<inertial pos="0.15908 0.000144 -0.015776" quat="-0.0765232 0.720327 -0.0853116 0.684102" mass="0.669" |
|
|
diaginertia="0.00601829 0.00600579 0.000408305"/> |
|
|
<joint name="right_elbow" pos="0 0 0" axis="0 1 0" range="-1.25 2.61"/> |
|
|
<geom class="visual" mesh="right_elbow_link"/> |
|
|
<geom class="collision" mesh="right_elbow_link"/> |
|
|
<site name="right_hand" pos="0.2605 0 -0.0185" rgba="0 1 0 1" size="0.01"/> |
|
|
<body name="right_hand_link" pos="0.2605 0 -0.0185"> |
|
|
<inertial pos="0.0631874 0.00230731 -0.00178328" quat="0.490597 0.510024 0.489386 0.509599" mass="0.15543" diaginertia="0.00017876 0.000132509 8.7405e-05"/> |
|
|
<joint name="right_hand" pos="0 0 0" axis="1 0 0" range="-3.05433 3.05433" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="right_hand_link"/> |
|
|
<geom type="mesh" class="collision" mesh="right_hand_link"/> |
|
|
<geom pos="0.003 0 0" quat="0 0.707107 -0.707107 0" type="mesh" class="visual" mesh="R_hand_base_link"/> |
|
|
<geom pos="0.003 0 0" quat="0 0.707107 -0.707107 0" type="mesh" class="collision" mesh="R_hand_base_link"/> |
|
|
<body name="R_thumb_proximal_base" pos="0.0721 0.01696 0.02045" quat="-0.707107 -2.59735e-06 -0.707107 0"> |
|
|
<inertial pos="-0.0048064 0.0009382 -0.00757" quat="0.515015 0.680854 0.408023 0.323596" mass="0.0018869" diaginertia="8.66026e-08 6.8732e-08 4.94194e-08"/> |
|
|
<joint name="R_thumb_proximal_yaw" pos="0 0 0" axis="0 0 -1" range="-0.1 1.3" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link11_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link11_R"/> |
|
|
<body name="R_thumb_proximal" pos="-0.0088099 0.010892 -0.00925" quat="0.0996843 0.0996847 0.700046 0.700044"> |
|
|
<inertial pos="0.021932 0.012785 -0.0080386" quat="-0.254474 0.660716 0.251893 0.659733" mass="0.0066075" diaginertia="2.78601e-06 2.43933e-06 8.64566e-07"/> |
|
|
<joint name="R_thumb_proximal_pitch" pos="0 0 0" axis="0 0 1" range="-0.1 0.6" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link12_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link12_R"/> |
|
|
<body name="R_thumb_intermediate" pos="0.04407 0.034553 -0.0008"> |
|
|
<inertial pos="0.0095544 -0.0016282 -0.0071997" quat="0.636718 0.307389 -0.636802 0.307548" mass="0.0037847" diaginertia="4.6531e-07 4.48089e-07 2.45661e-07"/> |
|
|
<joint name="R_thumb_intermediate" pos="0 0 0" axis="0 0 1" range="0 0.8" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link13_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link13_R"/> |
|
|
<body name="R_thumb_distal" pos="0.020248 0.010156 -0.0012"> |
|
|
<inertial pos="0.0092888 0.0049529 -0.0060033" quat="-0.266294 0.655967 0.262806 0.655537" mass="0.0033441" diaginertia="2.0026e-07 1.95247e-07 8.1593e-08"/> |
|
|
<joint name="R_thumb_distal" pos="0 0 0" axis="0 0 1" range="0 1.2" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link14_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link14_R"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
<body name="R_index_proximal" pos="0.13953 -0.00028533 0.032268" quat="0.706999 0.0123358 -0.0123358 -0.706999"> |
|
|
<inertial pos="0.0012259 0.011942 -0.0060001" quat="0.50867 0.49121 -0.508643 0.491172" mass="0.0042403" diaginertia="6.9398e-07 6.62871e-07 2.10909e-07"/> |
|
|
<joint name="R_index_proximal" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link15_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link15_R"/> |
|
|
<body name="R_index_intermediate" pos="-0.0026138 0.032026 -0.001"> |
|
|
<inertial pos="0.0019697 0.019589 -0.005" quat="0.466773 0.531152 -0.466773 0.531153" mass="0.0045683" diaginertia="7.8179e-07 7.72465e-07 8.47212e-08"/> |
|
|
<joint name="R_index_intermediate" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link16_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link16_R"/> |
|
|
</body> |
|
|
</body> |
|
|
<body name="R_middle_proximal" pos="0.1401 -0.00028533 0.01295" quat="0.707107 -2.59735e-06 2.59735e-06 -0.707107"> |
|
|
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.510131 0.489693 -0.510105 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/> |
|
|
<joint name="R_middle_proximal" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link17_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link17_R"/> |
|
|
<body name="R_middle_intermediate" pos="-0.0024229 0.032041 -0.001"> |
|
|
<inertial pos="0.001921 0.020796 -0.005" quat="0.466148 0.531627 -0.466229 0.531705" mass="0.0050396" diaginertia="9.8384e-07 9.73279e-07 9.14014e-08"/> |
|
|
<joint name="R_middle_intermediate" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link18_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link18_R"/> |
|
|
</body> |
|
|
</body> |
|
|
<body name="R_ring_proximal" pos="0.13991 -0.00028533 -0.0062872" quat="-0.706864 0.0185215 -0.0185215 0.706864"> |
|
|
<inertial pos="0.001297 0.011934 -0.0060002" quat="0.510129 0.489691 -0.510107 0.489654" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/> |
|
|
<joint name="R_ring_proximal" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link19_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link19_R"/> |
|
|
<body name="R_ring_intermediate" pos="-0.0024229 0.032041 -0.001"> |
|
|
<inertial pos="0.0021753 0.019567 -0.005" quat="0.469554 0.528695 -0.469554 0.528695" mass="0.0045683" diaginertia="7.8177e-07 7.72448e-07 8.4722e-08"/> |
|
|
<joint name="R_ring_intermediate" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link20_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link20_R"/> |
|
|
</body> |
|
|
</body> |
|
|
<body name="R_pinky_proximal" pos="0.13871 -0.00028533 -0.025488" quat="-0.706138 0.0369975 -0.0369975 0.706138"> |
|
|
<inertial pos="0.001297 0.011934 -0.0060001" quat="0.51013 0.489693 -0.510106 0.489653" mass="0.0042403" diaginertia="6.9397e-07 6.62865e-07 2.10915e-07"/> |
|
|
<joint name="R_pinky_proximal" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link21_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link21_R"/> |
|
|
<body name="R_pinky_intermediate" pos="-0.0024229 0.032041 -0.001"> |
|
|
<inertial pos="0.0024748 0.016203 -0.0050031" quat="0.47398 0.528862 -0.469291 0.524799" mass="0.0035996" diaginertia="4.4867e-07 4.43723e-07 6.56538e-08"/> |
|
|
<joint name="R_pinky_intermediate" pos="0 0 0" axis="0 0 1" range="0 1.7" damping="0.5" frictionloss="0.1"/> |
|
|
<geom type="mesh" class="visual" mesh="Link22_R"/> |
|
|
<geom type="mesh" class="collision" mesh="Link22_R"/> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</body> |
|
|
</worldbody> |
|
|
|
|
|
<actuator> |
|
|
<position name="left_hip_yaw" joint="left_hip_yaw" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="left_hip_roll" joint="left_hip_roll" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="left_hip_pitch" joint="left_hip_pitch" ctrlrange="-3.14 2.53" class="hip" /> |
|
|
<position name="left_knee" joint="left_knee" ctrlrange="-0.26 2.05" class="knee" /> |
|
|
<position name="left_ankle" joint="left_ankle" ctrlrange="-0.87 0.52" class="ankle" /> |
|
|
<position name="right_hip_yaw" joint="right_hip_yaw" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="right_hip_roll" joint="right_hip_roll" ctrlrange="-0.43 0.43" class="hip" /> |
|
|
<position name="right_hip_pitch" joint="right_hip_pitch" ctrlrange="-3.14 2.53" class="hip" /> |
|
|
<position name="right_knee" joint="right_knee" ctrlrange="-0.26 2.05" class="knee" /> |
|
|
<position name="right_ankle" joint="right_ankle" ctrlrange="-0.87 0.52" class="ankle" /> |
|
|
<position name="torso" joint="torso" ctrlrange="-2.35 2.35" class="torso" /> |
|
|
<position name="left_shoulder_pitch" joint="left_shoulder_pitch" ctrlrange="-2.87 2.87" class="shoulder1" /> |
|
|
<position name="left_shoulder_roll" joint="left_shoulder_roll" ctrlrange="-0.34 3.11" class="shoulder1" /> |
|
|
<position name="left_shoulder_yaw" joint="left_shoulder_yaw" ctrlrange="-1.3 4.45" class="shoulder2" /> |
|
|
<position name="left_elbow" joint="left_elbow" ctrlrange="-1.25 2.61" class="elbow" /> |
|
|
<position class="h1" name="left_hand" joint="left_hand" ctrlrange="-6 6"/> |
|
|
<position name="right_shoulder_pitch" joint="right_shoulder_pitch" ctrlrange="-2.87 2.87" class="shoulder1" /> |
|
|
<position name="right_shoulder_roll" joint="right_shoulder_roll" ctrlrange="-3.11 0.34" class="shoulder1" /> |
|
|
<position name="right_shoulder_yaw" joint="right_shoulder_yaw" ctrlrange="-4.45 1.3" class="shoulder2" /> |
|
|
<position name="right_elbow" joint="right_elbow" ctrlrange="-1.25 2.61" class="elbow" /> |
|
|
<position class="h1" name="right_hand" joint="right_hand" ctrlrange="-6 6"/> |
|
|
|
|
|
<position class="h1" name="L_index_proximal" joint="L_index_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_index_intermediate" joint="L_index_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_middle_proximal" joint="L_middle_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_middle_intermediate" joint="L_middle_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_ring_proximal" joint="L_ring_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_ring_intermediate" joint="L_ring_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_pinky_proximal" joint="L_pinky_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_pinky_intermediate" joint="L_pinky_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_thumb_proximal_yaw" joint="L_thumb_proximal_yaw" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_thumb_proximal_pitch" joint="L_thumb_proximal_pitch" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_thumb_intermediate" joint="L_thumb_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="L_thumb_distal" joint="L_thumb_distal" ctrlrange="-1 1"/> |
|
|
|
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<position class="h1" name="R_index_proximal" joint="R_index_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_index_intermediate" joint="R_index_intermediate" ctrlrange="-1 1"/> |
|
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<position class="h1" name="R_middle_proximal" joint="R_middle_proximal" ctrlrange="-1 1"/> |
|
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<position class="h1" name="R_middle_intermediate" joint="R_middle_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_ring_proximal" joint="R_ring_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_ring_intermediate" joint="R_ring_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_pinky_proximal" joint="R_pinky_proximal" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_pinky_intermediate" joint="R_pinky_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_thumb_proximal_yaw" joint="R_thumb_proximal_yaw" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_thumb_proximal_pitch" joint="R_thumb_proximal_pitch" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_thumb_intermediate" joint="R_thumb_intermediate" ctrlrange="-1 1"/> |
|
|
<position class="h1" name="R_thumb_distal" joint="R_thumb_distal" ctrlrange="-1 1"/> |
|
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</actuator> |
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|
|
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<sensor> |
|
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<touch name="left_foot_sensor" site="left_foot"/> |
|
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<touch name="right_foot_sensor" site="right_foot"/> |
|
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<subtreelinvel name="pelvis_subtreelinvel" body="pelvis"/> |
|
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<subtreelinvel name="left_hand_subtreelinvel" body="left_hand_link"/> |
|
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<subtreelinvel name="right_hand_subtreelinvel" body="right_hand_link"/> |
|
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<velocimeter name="body_velocimeter" site="com"/> |
|
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<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/> |
|
|
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/> |
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</sensor> |
|
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</mujoco> |
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