update robots

robots/h1_hand/mjcf/h1_hand.xml

@@ -0,0 +1,919 @@
+<mujoco model="h1_hand">
+    <compiler angle="radian" autolimits="true"/>
+
+    <default>
+        <default class="h1">
+            <geom type="mesh"/>
+            <joint damping="1" armature="0.1"/>
+            <default class="visual">
+                <geom contype="0" conaffinity="0" group="2" material="black"/>
+            </default>
+            <default class="collision">
+                <geom group="3" mass="0" density="0"/>
+            </default>
+            <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
+            <default class="hip">
+                <position forcerange="-200 200" kp="200" kv="5"/>
+            </default>
+            <default class="knee">
+                <position forcerange="-300 300" kp="300" kv="6"/>
+            </default>
+            <default class="ankle">
+                <position forcerange="-40 40" kp="40" kv="2"/>
+            </default>
+            <default class="torso">
+                <position forcerange="-200 200" kp="300" kv="6"/>
+            </default>
+            <default class="shoulder1">
+                <position forcerange="-40 40" kp="100" kv="2"/>
+            </default>
+            <default class="shoulder2">
+                <position forcerange="-18 18" kp="100" kv="2"/>
+            </default>
+            <default class="elbow">
+                <position forcerange="-18 18" kp="100" kv="2"/>
+            </default>
+            <default class="wrist_yaw">
+                <position forcerange="-18 18" kp="100" kv="2"/>
+            </default>
+        </default>
+    </default>
+
+    <default>
+        <default class="left_hand">
+            <mesh scale="0.001 0.001 0.001"/>
+            <joint axis="1 0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/>
+            <position forcerange="-1 1"/>
+
+            <default class="left_wrist">
+                <joint damping="0.5"/>
+                <default class="left_wrist_y">
+                    <joint axis="0 -1 0" range="-0.523599 0.174533"/>
+                    <position kp="10" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/>
+                </default>
+                <default class="left_wrist_x">
+                    <joint range="-0.698132 0.488692"/>
+                    <position kp="8" ctrlrange="-0.698132 0.488692" forcerange="-5 5"/>
+                </default>
+            </default>
+
+            <default class="left_thumb">
+                <default class="left_thbase">
+                    <joint axis="0 0 1" range="-1.0472 1.0472"/>
+                    <position kp="0.4" ctrlrange="-1.0472 1.0472" forcerange="-3 3"/>
+                </default>
+                <default class="left_thproximal">
+                    <joint axis="-1 0 0" range="0 1.22173"/>
+                    <position ctrlrange="0 1.22173" forcerange="-2 2"/>
+                </default>
+                <default class="left_thhub">
+                    <joint axis="-1 0 0" range="-0.20944 0.20944"/>
+                    <position kp="0.5" ctrlrange="-0.20944 0.20944"/>
+                </default>
+                <default class="left_thmiddle">
+                    <joint axis="0 -1 0" range="-0.698132 0.698132"/>
+                    <position kp="1.5" ctrlrange="-0.698132 0.698132"/>
+                </default>
+                <default class="left_thdistal">
+                    <joint range="-0.261799 1.5708"/>
+                    <position ctrlrange="-0.261799 1.5708"/>
+                </default>
+            </default>
+
+            <default class="left_metacarpal">
+                <joint axis="0.573576 0 0.819152" range="0 0.785398"/>
+                <position ctrlrange="0 0.785398"/>
+            </default>
+            <default class="left_knuckle">
+                <joint axis="0 -1 0" range="-0.349066 0.349066"/>
+                <position ctrlrange="-0.349066 0.349066"/>
+            </default>
+            <default class="left_proximal">
+                <joint range="-0.261799 1.5708"/>
+                <position ctrlrange="-0.261799 1.5708"/>
+            </default>
+            <default class="left_middle_distal">
+                <joint range="0 1.5708"/>
+                <position kp="0.5" ctrlrange="0 3.1415"/>
+            </default>
+
+            <default class="left_plastic">
+                <geom solimp="0.5 0.99 0.0001" solref="0.005 1"/>
+                <default class="left_plastic_visual">
+                    <geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/>
+                </default>
+                <default class="left_plastic_collision">
+                    <geom group="3"/>
+                </default>
+            </default>
+        </default>
+    </default>
+
+    <default>
+        <default class="right_hand">
+            <mesh scale="0.001 0.001 0.001"/>
+            <joint axis="1 0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/>
+            <position forcerange="-1 1"/>
+
+            <default class="right_wrist">
+                <joint damping="0.5"/>
+                <default class="right_wrist_y">
+                    <joint axis="0 1 0" range="-0.523599 0.174533"/>
+                    <position kp="10" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/>
+                </default>
+                <default class="right_wrist_x">
+                    <joint range="-0.698132 0.488692"/>
+                    <position kp="8" ctrlrange="-0.698132 0.488692" forcerange="-5 5"/>
+                </default>
+            </default>
+
+            <default class="right_thumb">
+                <default class="right_thbase">
+                    <joint axis="0 0 -1" range="-1.0472 1.0472"/>
+                    <position kp="0.4" ctrlrange="-1.0472 1.0472" forcerange="-3 3"/>
+                </default>
+                <default class="right_thproximal">
+                    <joint range="0 1.22173"/>
+                    <position ctrlrange="0 1.22173" forcerange="-2 2"/>
+                </default>
+                <default class="right_thhub">
+                    <joint range="-0.20944 0.20944"/>
+                    <position kp="0.5" ctrlrange="-0.20944 0.20944"/>
+                </default>
+                <default class="right_thmiddle">
+                    <joint axis="0 -1 0" range="-0.698132 0.698132"/>
+                    <position kp="1.5" ctrlrange="-0.698132 0.698132"/>
+                </default>
+                <default class="right_thdistal">
+                    <joint range="-0.261799 1.5708"/>
+                    <position ctrlrange="-0.261799 1.5708"/>
+                </default>
+            </default>
+
+            <default class="right_metacarpal">
+                <joint axis="0.573576 0 0.819152" range="0 0.785398"/>
+                <position ctrlrange="0 0.785398"/>
+            </default>
+            <default class="right_knuckle">
+                <joint axis="0 -1 0" range="-0.349066 0.349066"/>
+                <position ctrlrange="-0.349066 0.349066"/>
+            </default>
+            <default class="right_proximal">
+                <joint range="-0.261799 1.5708"/>
+                <position ctrlrange="-0.261799 1.5708"/>
+            </default>
+            <default class="right_middle_distal">
+                <joint range="0 1.5708"/>
+                <position kp="0.5" ctrlrange="0 3.1415"/>
+            </default>
+
+            <default class="right_plastic">
+                <geom solimp="0.5 0.99 0.0001" solref="0.005 1"/>
+                <default class="right_plastic_visual">
+                    <geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/>
+                </default>
+                <default class="right_plastic_collision">
+                    <geom group="3"/>
+                </default>
+            </default>
+        </default>
+    </default>
+
+
+    <asset>
+        <!-- 天空盒：蓝色渐变 -->
+        <texture name="texsky" type="skybox" builtin="gradient"
+                rgb1="0.6 0.8 1" rgb2="0.1 0.4 0.8"
+                width="512" height="3072"/>
+
+        <material name="black_sh" specular="0.5" shininess="0.25" rgba="0.16355 0.16355 0.16355 1"/>
+        <material name="gray" specular="0.0" shininess="0.25" rgba="0.80848 0.80848 0.80848 1"/>
+        <material name="metallic" specular="0" shininess="0.25" rgba="0.9 0.9 0.9 1"/>
+
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/forearm_0.obj" name="left_forearm_0"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/forearm_1.obj" name="left_forearm_1"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/forearm_collision.obj" name="left_forearm_collision"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/wrist.obj" scale="-0.001 0.001 0.001" name="left_wrist"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/palm.obj" scale="-0.001 0.001 0.001" name="left_palm"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_knuckle.obj" name="left_f_knuckle"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_proximal.obj" name="left_f_proximal"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_middle.obj" name="left_f_middle"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/f_distal_pst.obj" name="left_f_distal_pst"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/lf_metacarpal.obj" scale="-0.001 0.001 0.001" name="left_lf_metacarpal"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/th_proximal.obj" name="left_th_proximal"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/th_middle.obj" name="left_th_middle"/>
+        <mesh class="left_hand" file="./shadow_hand_menagerie/assets/th_distal_pst.obj" name="left_th_distal_pst"/>
+    </asset>
+
+    <asset>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/forearm_0.obj" name="right_forearm_0"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/forearm_1.obj" name="right_forearm_1"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/forearm_collision.obj" name="right_forearm_collision"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/wrist.obj" name="right_wrist"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/palm.obj" name="right_palm"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_knuckle.obj" name="right_f_knuckle"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_proximal.obj" name="right_f_proximal"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_middle.obj" name="right_f_middle"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/f_distal_pst.obj" name="right_f_distal_pst"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/lf_metacarpal.obj" name="right_lf_metacarpal"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/th_proximal.obj" name="right_th_proximal"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/th_middle.obj" name="right_th_middle"/>
+        <mesh class="right_hand" file="./shadow_hand_menagerie/assets/th_distal_pst.obj" name="right_th_distal_pst"/>
+    </asset>
+
+    <asset>
+        <material name="black" rgba="0.1 0.1 0.1 1"/>
+        <material name="white" rgba="1 1 1 1"/>
+
+        <mesh file="../../h1/mjcf/assets/pelvis.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_hip_yaw_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_hip_roll_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_hip_pitch_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_knee_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_ankle_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_hip_yaw_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_hip_roll_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_hip_pitch_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_knee_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_ankle_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/torso_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_shoulder_pitch_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_shoulder_roll_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_shoulder_yaw_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/left_elbow_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_shoulder_pitch_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_shoulder_roll_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_shoulder_yaw_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/right_elbow_link.stl"/>
+        <mesh file="../../h1/mjcf/assets/logo_link.stl"/>
+    </asset>
+
+    <worldbody>
+        <light pos="0 0 10" castshadow="false" directional="true"
+            ambient="0.3 0.3 0.3" diffuse="0.7 0.7 0.7" specular="0.1 0.1 0.1"/>
+
+        <camera name="cam_kitchen" pos="-0.3 -2.5 2.5" xyaxes="1 0 0 0 0.5 1"/>
+        <body name="pelvis" pos="0 0 0" childclass="h1">
+            <site name="com" pos="0 0 0" rgba="1 0 0 0" size="0.01"/>
+            <camera name="cam_default" pos="2 3 0.8" mode="trackcom" xyaxes="-1 0.5 0 -0.2 -0.2 1"/>
+            <camera name="cam_maze" pos="3 3 3" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/>
+            <camera name="cam_tabletop" pos="2.5 2 1.5" mode="trackcom" xyaxes="-0.5 0.5 0 -0.4 -0.4 1"/>
+            <camera name="cam_hurdle" pos="-3 3 3" mode="trackcom" xyaxes="-0.5 -0.5 0 0.4 -0.4 1"/>
+            <camera name="cam_basketball" pos="-1.8 3.5 3" mode="trackcom" xyaxes="-0.4 -0.5 0 0.4 -0.4 1"/>
+            <camera name="cam_hand_visible" pos="-1.5 1.5 0.5" mode="trackcom" xyaxes="-0.8 -1 0 0 -0.3 1"/>
+            <camera name="cam_inhand" pos="1.5 1.5 0.5" mode="trackcom" xyaxes="-1 0.8 0 0 -0.3 1"/>
+            <inertial pos="-0.0002 4e-05 -0.04522" quat="0.498303 0.499454 -0.500496 0.501741" mass="5.39"
+                diaginertia="0.0490211 0.0445821 0.00824619"/>
+
+            <geom class="visual" mesh="pelvis"/>
+            <geom class="collision" mesh="pelvis"/>
+            <body name="left_hip_yaw_link" pos="0 0.0875 -0.1742">
+                <inertial pos="-0.04923 0.0001 0.0072" quat="0.69699 0.219193 0.233287 0.641667" mass="2.244"
+                    diaginertia="0.00304494 0.00296885 0.00189201"/>
+                <joint name="left_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
+                <geom class="visual" mesh="left_hip_yaw_link"/>
+                <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
+                <body name="left_hip_roll_link" pos="0.039468 0 0">
+                    <inertial pos="-0.0058 -0.00319 -9e-05" quat="0.0438242 0.70721 -0.0729075 0.701867" mass="2.232"
+                        diaginertia="0.00243264 0.00225325 0.00205492"/>
+                    <joint name="left_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
+                    <geom class="visual" mesh="left_hip_roll_link"/>
+                    <geom class="collision" mesh="left_hip_roll_link"/>
+                    <body name="left_hip_pitch_link" pos="0 0.11536 0">
+                        <inertial pos="0.00746 -0.02346 -0.08193" quat="0.979828 0.0513522 -0.0169854 -0.192382" mass="4.152"
+                            diaginertia="0.0829503 0.0821457 0.00510909"/>
+                        <joint name="left_hip_pitch" axis="0 1 0" range="-3.14 2.53"/>
+                        <geom class="visual" mesh="left_hip_pitch_link"/>
+                        <geom class="collision" mesh="left_hip_pitch_link"/>
+                        <body name="left_knee_link" pos="0 0 -0.4">
+                            <inertial pos="-0.00136 -0.00512 -0.1384" quat="0.626132 -0.034227 -0.0416277 0.777852" mass="1.721"
+                                diaginertia="0.0125237 0.0123104 0.0019428"/>
+                            <joint name="left_knee" axis="0 1 0" range="-0.26 2.05"/>
+                            <geom class="visual" mesh="left_knee_link"/>
+                            <geom class="collision" mesh="left_knee_link"/>
+                            <body name="left_ankle_link" pos="0 0 -0.4">
+                                <inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
+                                    diaginertia="0.00362 0.00355701 0.000149987"/>
+                                <joint name="left_ankle" axis="0 1 0" range="-0.87 0.52"/>
+                                <geom class="visual" mesh="left_ankle_link"/>
+                                <site name="left_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/>
+                                <geom class="collision" mesh="left_ankle_link"/>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="right_hip_yaw_link" pos="0 -0.0875 -0.1742">
+                <inertial pos="-0.04923 -0.0001 0.0072" quat="0.641667 0.233287 0.219193 0.69699" mass="2.244"
+                    diaginertia="0.00304494 0.00296885 0.00189201"/>
+                <joint name="right_hip_yaw" axis="0 0 1" range="-0.43 0.43"/>
+                <geom class="visual" mesh="right_hip_yaw_link"/>
+                <geom size="0.06 0.035" pos="-0.067 0 0" quat="0.707123 0 0.70709 0" type="cylinder" class="collision"/>
+                <body name="right_hip_roll_link" pos="0.039468 0 0">
+                    <inertial pos="-0.0058 0.00319 -9e-05" quat="-0.0438242 0.70721 0.0729075 0.701867" mass="2.232"
+                        diaginertia="0.00243264 0.00225325 0.00205492"/>
+                    <joint name="right_hip_roll" axis="1 0 0" range="-0.43 0.43"/>
+                    <geom class="visual" mesh="right_hip_roll_link"/>
+                    <geom class="collision" mesh="right_hip_roll_link"/>
+                    <body name="right_hip_pitch_link" pos="0 -0.11536 0">
+                        <inertial pos="0.00746 0.02346 -0.08193" quat="0.979828 -0.0513522 -0.0169854 0.192382" mass="4.152"
+                            diaginertia="0.0829503 0.0821457 0.00510909"/>
+                        <joint name="right_hip_pitch" axis="0 1 0" range="-3.14 2.53"/>
+                        <geom class="visual" mesh="right_hip_pitch_link"/>
+                        <geom class="collision" mesh="right_hip_pitch_link"/>
+                        <body name="right_knee_link" pos="0 0 -0.4">
+                            <inertial pos="-0.00136 0.00512 -0.1384" quat="0.777852 -0.0416277 -0.034227 0.626132" mass="1.721"
+                                diaginertia="0.0125237 0.0123104 0.0019428"/>
+                            <joint name="right_knee" axis="0 1 0" range="-0.26 2.05"/>
+                            <geom class="visual" mesh="right_knee_link"/>
+                            <geom class="collision" mesh="right_knee_link"/>
+                            <body name="right_ankle_link" pos="0 0 -0.4">
+                                <inertial pos="0.048568 0 -0.045609" quat="0.489385 0.510394 0.510394 0.489385" mass="0.552448"
+                                    diaginertia="0.00362 0.00355701 0.000149987"/>
+                                <joint name="right_ankle" axis="0 1 0" range="-0.87 0.52"/>
+                                <geom class="visual" mesh="right_ankle_link"/>
+                                <site name="right_foot" pos="0. 0 -0.05" rgba="0 1 0 1" size="0.001"/>
+                                <geom class="collision" mesh="right_ankle_link"/>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+            <body name="torso_link">
+                <site name="left_eye" pos="0.1 0.03 0.65" rgba="1 1 1 1" size="0.01" zaxis="1 0 0" group="1"/>
+                <camera name="left_eye_camera" pos="0.1 0.03 0.65" xyaxes="0 -1 0 0 0 1"/>
+                <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"/>
+                <camera name="right_eye_camera" pos="0.1 -0.03 0.65" xyaxes="0 -1 0 0 0 1"/>
+                <inertial pos="0.000489 0.002797 0.20484" quat="0.999989 -0.00130808 -0.00282289 -0.00349105" mass="17.789"
+                    diaginertia="0.487315 0.409628 0.127837"/>
+                <joint name="torso" axis="0 0 1" range="-2.35 2.35"/>
+                <geom class="visual" mesh="torso_link"/>
+                <geom class="collision" mesh="torso_link"/>
+                <geom class="visual" material="white" mesh="logo_link"/>
+                <site name="head" class="visual" size="0.01" pos="0 0 0.7" rgba="1 1 1 1"/>
+                <site name="imu" size="0.01" pos="-0.04452 -0.01891 0.27756"/>
+                <body name="left_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="0.814858 0.579236 -0.0201072 -0.00936488" mass="1.033"
+                        diaginertia="0.00129936 0.000987113 0.000858198"/>
+                    <joint name="left_shoulder_pitch" axis="0 1 0" range="-2.87 2.87"/>
+                    <geom class="visual" mesh="left_shoulder_pitch_link"/>
+                    <geom class="collision" mesh="left_shoulder_pitch_link"/>
+                    <body name="left_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="0.732491 0.00917179 0.0766656 0.676384" mass="0.793"
+                            diaginertia="0.00170388 0.00158256 0.00100336"/>
+                        <joint name="left_shoulder_roll" axis="1 0 0" range="-0.34 3.11"/>
+                        <geom class="visual" mesh="left_shoulder_roll_link"/>
+                        <geom class="collision" mesh="left_shoulder_roll_link"/>
+                        <body name="left_shoulder_yaw_link" pos="0 0 -0.1343">
+                            <inertial pos="0.01365 0.002767 -0.16266" quat="0.703042 -0.0331229 -0.0473362 0.708798" mass="0.839"
+                                diaginertia="0.00408038 0.00370367 0.000622687"/>
+                            <joint name="left_shoulder_yaw" axis="0 0 1" range="-1.3 4.45"/>
+                            <geom class="visual" mesh="left_shoulder_yaw_link"/>
+                            <geom class="collision" mesh="left_shoulder_yaw_link"/>
+                            <body name="left_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="left_elbow" axis="0 1 0" range="-1.25 2.61"/>
+                                <geom class="visual" mesh="left_elbow_link"/>
+                                <geom class="collision" mesh="left_elbow_link"/>
+                                <site name="left_hand" pos="0.31 0 -0.01" rgba="0 1 0 1" size="0.01"/>
+                                <body name='left_hand' pos='0.169 0 -0.02912' quat="0 1 0 1">
+                                    <inertial mass="0.001" pos="0 0 0.001" diaginertia="1e-05 1e-05 1e-05"/>
+                                    <joint name="left_wrist_yaw" axis="0 0 1" range="-0.15 1.57"/>
+                                    <!-- <include file="./shadow_hand_menagerie/left_hand.xml"/> -->
+
+  <!-- <compiler angle="radian" meshdir="assets" autolimits="true"/> -->
+
+  <!-- <option cone="elliptic" impratio="10"/> -->
+
+
+
+  <!-- <body name="lh_forearm" childclass="left_hand" quat="0 1 0 1"> -->
+    <!-- <inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/> -->
+    <!-- <geom class="left_plastic_visual" mesh="left_forearm_0" material="gray"/> -->
+    <!-- <geom class="left_plastic_visual" mesh="left_forearm_1"/> -->
+    <!-- <geom class="left_plastic_collision" type="mesh" mesh="left_forearm_collision"/> -->
+    <!-- <geom class="left_plastic_collision" size="0.035 0.035 0.035" pos="0.01 0.0 0.181" quat="0.380188 0.924909 0 0" -->
+      <!-- type="box"/> -->
+    <body name="lh_wrist" pos="0.01 0 0.15301" quat="1 0 0 1">
+    <!-- <body name="lh_wrist" pos="0.01 0 0.21301" quat="1 0 0 1"> -->
+      <inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
+      <joint class="left_wrist_y" name="lh_WRJ2"/>
+      <geom class="left_plastic_visual" mesh="left_wrist" material="metallic"/>
+      <!-- <geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="left_plastic_collision"/> -->
+      <geom size="0.011 0.005" pos="0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+      <geom size="0.011 0.005" pos="-0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+      <geom size="0.0135 0.009 0.005" pos="0.021 0 0.011" quat="-0.923879 0 0.382684 0" type="box"
+        class="left_plastic_collision"/>
+      <geom size="0.0135 0.009 0.005" pos="-0.026 0 0.01" quat="-0.923879 0 -0.382684 0" type="box"
+        class="left_plastic_collision"/>
+      <body name="lh_palm" pos="0 0 0.034">
+        <inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
+        <joint class="left_wrist_x" name="lh_WRJ1"/>
+        <geom class="left_plastic_visual" mesh="left_palm"/>
+        <geom size="0.031 0.0035 0.049" pos="-0.011 0.0085 0.038" type="box" class="left_plastic_collision"/>
+        <geom size="0.018 0.0085 0.049" pos="0.002 -0.0035 0.038" type="box" class="left_plastic_collision"/>
+        <geom size="0.013 0.0085 0.005" pos="-0.029 -0.0035 0.082" type="box" class="left_plastic_collision"/>
+        <geom size="0.013 0.007 0.009" pos="-0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 -0.124052"
+          type="box" class="left_plastic_collision"/>
+        <geom size="0.0105 0.0135 0.0112" pos="-0.0315 -0.0085 0.001" type="box" class="left_plastic_collision"/>
+        <geom size="0.011 0.0025 0.015" pos="-0.0125 -0.015 0.004" quat="-0.971338 0 0 -0.237703" type="box"
+          class="left_plastic_collision"/>
+        <geom size="0.009 0.012 0.002" pos="-0.011 0 0.089" type="box" class="left_plastic_collision"/>
+        <geom size="0.01 0.012 0.02" pos="0.03 0 0.009" type="box" class="left_plastic_collision"/>
+        <body name="lh_ffknuckle" pos="-0.033 0 0.095">
+          <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+          <joint name="lh_FFJ4" class="left_knuckle" axis="0 1 0"/>
+          <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+          <body name="lh_ffproximal">
+            <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+            <joint name="lh_FFJ3" class="left_proximal"/>
+            <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+            <body name="lh_ffmiddle" pos="0 0 0.045">
+              <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+              <joint name="lh_FFJ2" class="left_middle_distal"/>
+              <geom class="left_plastic_visual" mesh="left_f_middle"/>
+              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_ffdistal" pos="0 0 0.025">
+                <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                  diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                <joint name="lh_FFJ1" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_mfknuckle" pos="-0.011 0 0.099">
+          <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+          <joint name="lh_MFJ4" class="left_knuckle" axis="0 1 0"/>
+          <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+          <body name="lh_mfproximal">
+            <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+            <joint name="lh_MFJ3" class="left_proximal"/>
+            <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+            <body name="lh_mfmiddle" pos="0 0 0.045">
+              <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+              <joint name="lh_MFJ2" class="left_middle_distal"/>
+              <geom class="left_plastic_visual" mesh="left_f_middle"/>
+              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_mfdistal" pos="0 0 0.025">
+                <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                  diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                <joint name="lh_MFJ1" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_rfknuckle" pos="0.011 0 0.095">
+          <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+          <joint name="lh_RFJ4" class="left_knuckle"/>
+          <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+          <body name="lh_rfproximal">
+            <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+            <joint name="lh_RFJ3" class="left_proximal"/>
+            <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+            <body name="lh_rfmiddle" pos="0 0 0.045">
+              <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+              <joint name="lh_RFJ2" class="left_middle_distal"/>
+              <geom class="left_plastic_visual" mesh="left_f_middle"/>
+              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_rfdistal" pos="0 0 0.025">
+                <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                  diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                <joint name="lh_RFJ1" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_lfmetacarpal" pos="0.033 0 0.02071">
+          <inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
+          <joint name="lh_LFJ5" class="left_metacarpal" axis="0.573576 0 -0.819152"/>
+          <geom class="left_plastic_visual" mesh="left_lf_metacarpal"/>
+          <geom size="0.011 0.012 0.025" pos="-0.002 0 0.033" type="box" class="left_plastic_collision"/>
+          <body name="lh_lfknuckle" pos="0 0 0.06579">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="lh_LFJ4" class="left_knuckle"/>
+            <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+            <body name="lh_lfproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="lh_LFJ3" class="left_proximal"/>
+              <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_lfmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="lh_LFJ2" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+                <body name="lh_lfdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="lh_LFJ1" class="left_middle_distal"/>
+                  <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                  <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_thbase" pos="-0.034 -0.00858 0.029" quat="0 -0.382683 0 0.92388">
+          <inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/>
+          <joint name="lh_THJ5" class="left_thbase"/>
+          <geom class="left_plastic_collision" size="0.013"/>
+          <body name="lh_thproximal">
+            <inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
+            <joint name="lh_THJ4" class="left_thproximal"/>
+            <geom class="left_plastic_visual" mesh="left_th_proximal"/>
+            <geom class="left_plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
+            <body name="lh_thhub" pos="0 0 0.038">
+              <inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
+              <joint name="lh_THJ3" class="left_thhub"/>
+              <geom size="0.011" class="left_plastic_collision"/>
+              <body name="lh_thmiddle">
+                <inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
+                <joint name="lh_THJ2" class="left_thmiddle"/>
+                <geom class="left_plastic_visual" mesh="left_th_middle"/>
+                <geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="left_plastic_collision"/>
+                <geom size="0.01" pos="0 0 0.03" class="left_plastic_collision"/>
+                <body name="lh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
+                  <inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
+                    diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
+                  <joint name="lh_THJ1" class="left_thdistal"/>
+                  <geom class="left_plastic_visual" mesh="left_th_distal_pst"/>
+                  <geom class="left_plastic_collision" type="mesh" mesh="left_th_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </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" 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="0.31 0 -0.01" rgba="0 1 0 1" size="0.01"/>
+                                <body name='right_hand' pos='0.169 0 -0.02912' quat="0 1 0 1">
+                                    <inertial mass="0.001" pos="0 0 0.001" diaginertia="1e-05 1e-05 1e-05"/>
+                                    <joint name="right_wrist_yaw" axis="0 0 -1" range="-0.15 1.57"/>
+                                    <!-- <include file="./shadow_hand_menagerie/right_hand.xml"/> -->
+
+
+    <!-- <body name="rh_forearm" childclass="right_hand" quat="0 1 0 1"> -->
+      <!-- <inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/> -->
+      <!-- <geom class="right_plastic_visual" mesh="right_forearm_0" material="gray"/> -->
+      <!-- <geom class="right_plastic_visual" mesh="right_forearm_1"/> -->
+      <!-- <geom class="right_plastic_collision" type="mesh" mesh="right_forearm_collision"/> -->
+      <!-- <geom class="right_plastic_collision" size="0.035 0.035 0.035" pos="0.01 0.0 0.181" quat="0.380188 0.924909 0 0" -->
+        <!-- type="box"/> -->
+      <!-- <body name="rh_wrist" pos="0.01 0 0.21301" quat="1 0 0 1"> -->
+      <body name="rh_wrist" pos="0.01 0 0.15301" quat="1 0 0 1">
+        <inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
+        <joint class="right_wrist_y" name="rh_WRJ2"/>
+        <geom class="right_plastic_visual" mesh="right_wrist" material="metallic"/>
+        <!-- <geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="right_plastic_collision"/> -->
+        <geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+        <geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+        <geom size="0.0135 0.009 0.005" pos="-0.021 0 0.011" quat="0.923879 0 0.382684 0" type="box"
+          class="right_plastic_collision"/>
+        <geom size="0.0135 0.009 0.005" pos="0.026 0 0.01" quat="0.923879 0 -0.382684 0" type="box"
+          class="right_plastic_collision"/>
+        <body name="rh_palm" pos="0 0 0.034">
+          <inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
+          <joint class="right_wrist_x" name="rh_WRJ1"/>
+          <geom class="right_plastic_visual" mesh="right_palm"/>
+          <geom size="0.031 0.0035 0.049" pos="0.011 0.0085 0.038" type="box" class="right_plastic_collision"/>
+          <geom size="0.018 0.0085 0.049" pos="-0.002 -0.0035 0.038" type="box" class="right_plastic_collision"/>
+          <geom size="0.013 0.0085 0.005" pos="0.029 -0.0035 0.082" type="box" class="right_plastic_collision"/>
+          <geom size="0.013 0.007 0.009" pos="0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 0.124052"
+            type="box" class="right_plastic_collision"/>
+          <geom size="0.0105 0.0135 0.012" pos="0.0315 -0.0085 0.001" type="box" class="right_plastic_collision"/>
+          <geom size="0.011 0.0025 0.015" pos="0.0125 -0.015 0.004" quat="0.971338 0 0 -0.237703" type="box"
+            class="right_plastic_collision"/>
+          <geom size="0.009 0.012 0.002" pos="0.011 0 0.089" type="box" class="right_plastic_collision"/>
+          <geom size="0.01 0.012 0.02" pos="-0.03 0 0.009" type="box" class="right_plastic_collision"/>
+          <body name="rh_ffknuckle" pos="0.033 0 0.095">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="rh_FFJ4" class="right_knuckle"/>
+            <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+            <body name="rh_ffproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="rh_FFJ3" class="right_proximal"/>
+              <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+              <body name="rh_ffmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="rh_FFJ2" class="right_middle_distal"/>
+                <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_ffdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="rh_FFJ1" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                  <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_mfknuckle" pos="0.011 0 0.099">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="rh_MFJ4" class="right_knuckle"/>
+            <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+            <body name="rh_mfproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="rh_MFJ3" class="right_proximal"/>
+              <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+              <body name="rh_mfmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="rh_MFJ2" class="right_middle_distal"/>
+                <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_mfdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="rh_MFJ1" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                  <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_rfknuckle" pos="-0.011 0 0.095">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="rh_RFJ4" class="right_knuckle" axis="0 1 0"/>
+            <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+            <body name="rh_rfproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="rh_RFJ3" class="right_proximal"/>
+              <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+              <body name="rh_rfmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="rh_RFJ2" class="right_middle_distal"/>
+                <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_rfdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="rh_RFJ1" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                  <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_lfmetacarpal" pos="-0.033 0 0.02071">
+            <inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
+            <joint name="rh_LFJ5" class="right_metacarpal"/>
+            <geom class="right_plastic_visual" mesh="right_lf_metacarpal"/>
+            <geom size="0.011 0.012 0.025" pos="0.002 0 0.033" type="box" class="right_plastic_collision"/>
+            <body name="rh_lfknuckle" pos="0 0 0.06579">
+              <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+              <joint name="rh_LFJ4" class="right_knuckle" axis="0 1 0"/>
+              <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+              <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+              <body name="rh_lfproximal">
+                <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+                <joint name="rh_LFJ3" class="right_proximal"/>
+                <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+                <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_lfmiddle" pos="0 0 0.045">
+                  <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                  <joint name="rh_LFJ2" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                  <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                  <body name="rh_lfdistal" pos="0 0 0.025">
+                    <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                      diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                    <joint name="rh_LFJ1" class="right_middle_distal"/>
+                    <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                    <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_thbase" pos="0.034 -0.00858 0.029" quat="0.92388 0 0.382683 0">
+            <inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/>
+            <joint name="rh_THJ5" class="right_thbase"/>
+            <geom class="right_plastic_collision" size="0.013"/>
+            <body name="rh_thproximal">
+              <inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
+              <joint name="rh_THJ4" class="right_thproximal"/>
+              <geom class="right_plastic_visual" mesh="right_th_proximal"/>
+              <geom class="right_plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
+              <body name="rh_thhub" pos="0 0 0.038">
+                <inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
+                <joint name="rh_THJ3" class="right_thhub"/>
+                <geom size="0.011" class="right_plastic_collision"/>
+                <body name="rh_thmiddle">
+                  <inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
+                  <joint name="rh_THJ2" class="right_thmiddle"/>
+                  <geom class="right_plastic_visual" mesh="right_th_middle"/>
+                  <geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="right_plastic_collision"/>
+                  <geom size="0.01" pos="0 0 0.03" class="right_plastic_collision"/>
+                  <body name="rh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
+                    <inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
+                      diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
+                    <joint name="rh_THJ1" class="right_thdistal"/>
+                    <geom class="right_plastic_visual" mesh="right_th_distal_pst"/>
+                    <geom class="right_plastic_collision" type="mesh" mesh="right_th_distal_pst"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </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 name="left_wrist_yaw" joint="left_wrist_yaw" ctrlrange="-0.15 1.57" class="wrist_yaw" />
+        <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 name="right_wrist_yaw" joint="right_wrist_yaw" ctrlrange="-0.15 1.57" class="wrist_yaw" />
+    </actuator>
+
+    <!-- <contact>
+        <exclude body1="lh_wrist" body2="left_elbow_link"/>
+        <exclude body1="lh_thproximal" body2="lh_thmiddle"/>
+    </contact> -->
+
+    <!-- <tendon>
+        <fixed name="lh_FFJ0">
+            <joint joint="lh_FFJ2" coef="1"/>
+            <joint joint="lh_FFJ1" coef="1"/>
+        </fixed>
+        <fixed name="lh_MFJ0">
+            <joint joint="lh_MFJ2" coef="1"/>
+            <joint joint="lh_MFJ1" coef="1"/>
+        </fixed>
+        <fixed name="lh_RFJ0">
+            <joint joint="lh_RFJ2" coef="1"/>
+            <joint joint="lh_RFJ1" coef="1"/>
+        </fixed>
+        <fixed name="lh_LFJ0">
+            <joint joint="lh_LFJ2" coef="1"/>
+            <joint joint="lh_LFJ1" coef="1"/>
+        </fixed>
+    </tendon> -->
+
+    <actuator>
+        <position name="lh_A_WRJ2" joint="lh_WRJ2" class="left_wrist_y"/>
+        <position name="lh_A_WRJ1" joint="lh_WRJ1" class="left_wrist_x"/>
+        <position name="lh_A_THJ5" joint="lh_THJ5" class="left_thbase"/>
+        <position name="lh_A_THJ4" joint="lh_THJ4" class="left_thproximal"/>
+        <position name="lh_A_THJ3" joint="lh_THJ3" class="left_thhub"/>
+        <position name="lh_A_THJ2" joint="lh_THJ2" class="left_thmiddle"/>
+        <position name="lh_A_THJ1" joint="lh_THJ1" class="left_thdistal"/>
+        <position name="lh_A_FFJ4" joint="lh_FFJ4" class="left_knuckle"/>
+        <position name="lh_A_FFJ3" joint="lh_FFJ3" class="left_proximal"/>
+        <position name="lh_A_FFJ2" joint="lh_FFJ2" class="left_middle_distal"/>
+        <position name="lh_A_FFJ1" joint="lh_FFJ1" class="left_middle_distal"/>
+        <position name="lh_A_MFJ4" joint="lh_MFJ4" class="left_knuckle"/>
+        <position name="lh_A_MFJ3" joint="lh_MFJ3" class="left_proximal"/>
+        <position name="lh_A_MFJ2" joint="lh_MFJ2" class="left_middle_distal"/>
+        <position name="lh_A_MFJ1" joint="lh_MFJ1" class="left_middle_distal"/>
+        <position name="lh_A_RFJ4" joint="lh_RFJ4" class="left_knuckle"/>
+        <position name="lh_A_RFJ3" joint="lh_RFJ3" class="left_proximal"/>
+        <position name="lh_A_RFJ2" joint="lh_RFJ2" class="left_middle_distal"/>
+        <position name="lh_A_RFJ1" joint="lh_RFJ1" class="left_middle_distal"/>
+        <position name="lh_A_LFJ5" joint="lh_LFJ5" class="left_metacarpal"/>
+        <position name="lh_A_LFJ4" joint="lh_LFJ4" class="left_knuckle"/>
+        <position name="lh_A_LFJ3" joint="lh_LFJ3" class="left_proximal"/>
+        <position name="lh_A_LFJ2" joint="lh_LFJ2" class="left_middle_distal"/>
+        <position name="lh_A_LFJ1" joint="lh_LFJ1" class="left_middle_distal"/>
+    </actuator>
+
+    <!-- <contact>
+        <exclude body1="rh_wrist" body2="right_elbow_link"/>
+        <exclude body1="rh_thproximal" body2="rh_thmiddle"/>
+    </contact> -->
+
+    <!-- <tendon>
+        <fixed name="rh_FFJ0">
+            <joint joint="rh_FFJ2" coef="1"/>
+            <joint joint="rh_FFJ1" coef="1"/>
+        </fixed>
+        <fixed name="rh_MFJ0">
+            <joint joint="rh_MFJ2" coef="1"/>
+            <joint joint="rh_MFJ1" coef="1"/>
+        </fixed>
+        <fixed name="rh_RFJ0">
+            <joint joint="rh_RFJ2" coef="1"/>
+            <joint joint="rh_RFJ1" coef="1"/>
+        </fixed>
+        <fixed name="rh_LFJ0">
+            <joint joint="rh_LFJ2" coef="1"/>
+            <joint joint="rh_LFJ1" coef="1"/>
+        </fixed>
+    </tendon> -->
+
+    <actuator>
+        <position name="rh_A_WRJ2" joint="rh_WRJ2" class="right_wrist_y"/>
+        <position name="rh_A_WRJ1" joint="rh_WRJ1" class="right_wrist_x"/>
+        <position name="rh_A_THJ5" joint="rh_THJ5" class="right_thbase"/>
+        <position name="rh_A_THJ4" joint="rh_THJ4" class="right_thproximal"/>
+        <position name="rh_A_THJ3" joint="rh_THJ3" class="right_thhub"/>
+        <position name="rh_A_THJ2" joint="rh_THJ2" class="right_thmiddle"/>
+        <position name="rh_A_THJ1" joint="rh_THJ1" class="right_thdistal"/>
+        <position name="rh_A_FFJ4" joint="rh_FFJ4" class="right_knuckle"/>
+        <position name="rh_A_FFJ3" joint="rh_FFJ3" class="right_proximal"/>
+        <position name="rh_A_FFJ2" joint="rh_FFJ2" class="right_middle_distal"/>
+        <position name="rh_A_FFJ1" joint="rh_FFJ1" class="right_middle_distal"/>
+        <position name="rh_A_MFJ4" joint="rh_MFJ4" class="right_knuckle"/>
+        <position name="rh_A_MFJ3" joint="rh_MFJ3" class="right_proximal"/>
+        <position name="rh_A_MFJ2" joint="rh_MFJ2" class="right_middle_distal"/>
+        <position name="rh_A_MFJ1" joint="rh_MFJ1" class="right_middle_distal"/>
+        <position name="rh_A_RFJ4" joint="rh_RFJ4" class="right_knuckle"/>
+        <position name="rh_A_RFJ3" joint="rh_RFJ3" class="right_proximal"/>
+        <position name="rh_A_RFJ2" joint="rh_RFJ2" class="right_middle_distal"/>
+        <position name="rh_A_RFJ1" joint="rh_RFJ1" class="right_middle_distal"/>
+        <position name="rh_A_LFJ5" joint="rh_LFJ5" class="right_metacarpal"/>
+        <position name="rh_A_LFJ4" joint="rh_LFJ4" class="right_knuckle"/>
+        <position name="rh_A_LFJ3" joint="rh_LFJ3" class="right_proximal"/>
+        <position name="rh_A_LFJ2" joint="rh_LFJ2" class="right_middle_distal"/>
+        <position name="rh_A_LFJ1" joint="rh_LFJ1" class="right_middle_distal"/>
+    </actuator>
+
+    <sensor>
+        <touch name="left_foot_sensor" site="left_foot"/>
+        <touch name="right_foot_sensor" site="right_foot"/>
+        <subtreelinvel name="pelvis_subtreelinvel" body="pelvis"/>
+        <subtreelinvel name="left_hand_subtreelinvel" body="left_hand"/>
+        <subtreelinvel name="right_hand_subtreelinvel" body="right_hand"/>
+        <velocimeter name="body_velocimeter" site="com"/>
+    </sensor>
+</mujoco>

robots/h1_hand/mjcf/shadow_hand_menagerie/LICENSE

@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
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+      and distribution as defined by Sections 1 through 9 of this document.
+
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+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
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+
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+      Object form, made available under the License, as indicated by a
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+      "Derivative Works" shall mean any work, whether in Source or Object
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+      of this License, Derivative Works shall not include works that remain
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+      "Contribution" shall mean any work of authorship, including
+      the original version of the Work and any modifications or additions
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+   2. Grant of Copyright License. Subject to the terms and conditions of
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+      (c) You must retain, in the Source form of any Derivative Works
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+
+   9. Accepting Warranty or Additional Liability. While redistributing
+      the Work or Derivative Works thereof, You may choose to offer,
+      and charge a fee for, acceptance of support, warranty, indemnity,
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+      License. However, in accepting such obligations, You may act only
+      on Your own behalf and on Your sole responsibility, not on behalf
+      of any other Contributor, and only if You agree to indemnify,
+      defend, and hold each Contributor harmless for any liability
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+      of your accepting any such warranty or additional liability.
+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
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+      file or class name and description of purpose be included on the
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+
+   Copyright 2022 Shadow Robot Company Ltd
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
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+   See the License for the specific language governing permissions and
+   limitations under the License.

robots/h1_hand/mjcf/shadow_hand_menagerie/README.md

@@ -0,0 +1,41 @@
+# Shadow Hand E3M5 Description (MJCF)
+
+Requires MuJoCo 2.2.2 or later.
+
+## Overview
+
+This package contains assets of the "E3M5" version of the Shadow Hand robot,
+including both right-handed and left-handed versions.
+The original URDF and assets were provided directly by
+[Shadow Robot Company](https://www.shadowrobot.com/) under the
+[Apache 2.0 License](LICENSE).
+
+<p float="left">
+  <img src="shadow_hand.png" width="400">
+</p>
+
+## URDF → MJCF derivation steps
+
+1. Converted the DAE [mesh
+   files](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/)
+   to OBJ format using [Blender](https://www.blender.org/).
+2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf).
+3. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the
+   [URDF](https://github.com/shadow-robot/sr_common/blob/noetic-devel/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro)'s
+   `<robot>` clause in order to preserve visual geometries.
+4. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
+5. Removed `_E3M5` suffix from mesh names.
+6. Added forearm body and its corresponding inertial specs.
+7. Removed 2 artifact boxes left from the URDF conversion.
+8. Manually edited the MJCF to extract common properties into the `<default>` section.
+9. Added `<exclude>` clauses to prevent collisions between the forearm and the
+    wrist and thumb bodies.
+10. Added position-controlled actuators.
+11. Added `impratio=10` for better noslip.
+12. Hardened the contacts on the hand geoms.
+13. Added `scene_left.xml` and `scene_right.xml` which include the robot, with
+    an object, textured groundplane, skybox, and haze.
+
+## License
+
+These models are released under an [Apache-2.0 License](LICENSE).

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/f_distal_pst.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:350fcd33bc8ead915c0f646c8303d6b7554ad50ce546a128671d8d1fc75d5807
+size 341254

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/f_knuckle.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e997543c6c635fa80d152655869fe1d5bc1000a55f7fb648544a8755f068a075
+size 34351

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/f_middle.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e78001a2ff735088cd71e009498ac73e4f966a6055d3bc864db049eacdbda11
+size 25738

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/f_proximal.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec7741fb5a9ee379faec68091de1086ade627b46a73f0a32b3cc09fec72524e3
+size 64846

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/forearm_0.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d175854bbd3c93627eb6b9f09296efd4e133cd72885b9bc57c82f902c8c94c4
+size 80439

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/forearm_1.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ada902a47f61f000fb14cbb8245e2093ff32e3e6b43deea790fe5d034864774
+size 1433615

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/forearm_collision.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38328466d52194888812a15da0dd3d5a1ef786a005121338f6a5a8ce3057602d
+size 26812

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/lf_metacarpal.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71d5317a6c0a5dcf6070791981f2a4720919d0419d0c17b400aef91343ce6baa
+size 88696

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/mounting_plate.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32897f8d46e463657a822943c31f440dc6bbac87b5c7939d10cdbf971291e8d9
+size 118690

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/palm.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614cf65374fafaceb713f4ee711692be6a3a0a7851ff2e720925f3a858cb3882
+size 775747

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/th_distal_pst.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca87b937114face76a91810f2ee60ea4fc217b57ffa9a7a7f166169a3ebf7da1
+size 300842

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/th_middle.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a83bd4451f98d88c6c43ca0bbba30b6fd95b205da13adf9aff5a56c5aff3b4a8
+size 75080

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/th_proximal.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71ffd5329c80a0cef890da0ff490b8e04200ff53154e5b416ce0be24a6a1b256
+size 23772

robots/h1_hand/mjcf/shadow_hand_menagerie/assets/wrist.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc5620e4d9ea46d9526f0b40f8586bb5607e8ca763e5e23dab907a1baaf4890d
+size 110838

robots/h1_hand/mjcf/shadow_hand_menagerie/keyframes.xml

@@ -0,0 +1,17 @@
+<mujoco>
+  <keyframe>
+    <key name="scissors" qpos="0 0 -0.2094 0 0 0 0.002094 0 0 0 0 1.484 1.484 1.484 0 0 1.484 1.484 1.484 0 0 0 0.6981 0"/>
+    <key name="rock" qpos="0 0 0 1.484 1.484 1.484 0 1.484 1.484 1.484 0 1.484 1.484 1.484 0 0 1.484 1.484 1.484 0.1745 1.239 0.08727 0.6981 0.6981"/>
+    <key name="paper" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0.6981 0"/>
+    <key name="open hand" qpos="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
+    <key name="close hand" qpos="0 0 0 1.571 1.571 1.571 0 1.571 1.571 1.571 0 1.571 1.571 1.571 0 0 1.571 1.571 1.571 0.17 1.2 0 0.61 0.52"/>
+    <key name="point" qpos="0.00428 -0.06155 -0.06356 0.001284 0.03357 -0.009956 0.007048 1.522 1.635 1.422 0.01667 1.558 1.588 0.6359 0.01429 -0.005259 1.484 1.647 1.47 0.1813 1.091 0.001119 0.6403 0.5175"/>
+    <key name="two finger pinch" qpos="0.0188 -0.2686 -0.3013 0.9774 1.045 0.1665 0.1255 0.165 0.3459 0.0005741 -0.1349 0.4096 0.04252 0.03161 0.1938 -0.2039 0.05253 0.4297 0.009526 0.03082 1.08 0.1604 0.5839 0.3069"/>
+    <key name="three finger pinch" qpos="-0.01977 -0.5255 -0.3464 1.253 0.7836 -0.001106 0.01103 1.475 0.6181 0.0155 -0.2083 0.3328 0.07129 0.02873 0.1829 -0.2676 0.05465 0.3892 0.008468 0.07708 1.21 0.2023 0.6614 0.0102"/>
+    <key name="parallel extension" qpos="0.02402 0.2099 -0.006586 1.39 0.3971 0.004978 -0.006607 1.497 0.2583 0.005741 0.1438 1.536 -0.01001 0.01772 0.07822 0.02017 1.404 -0.004606 0.02382 0.1293 1.21 0.1619 0.4329 0.1276"/>
+    <key name="grasp sphere" qpos="0.002807 -0.7097 -0.352 0.8337 1.32 0.1101 -0.07213 0.829 1.309 0.02985 -0.1276 0.986 1.101 0.05124 0.1683 -0.3401 0.7487 1.176 0.0307 -0.0657 1.213 0.1983 0.6407 0.4141"/>
+    <key name="pre grasp" qpos="-0.03896 -0.5694 -0.3497 0.1074 0.1424 -0.008296 -0.05406 -0.07509 0.4658 0.01033 -0.1062 0.2738 0.001251 0.02586 0.1551 -0.3593 0.1445 -0.00691 -0.001588 -0.1413 0.8383 0.199 0.4945 0.1291"/>
+    <key name="grasp soft" qpos="-0.01386 -0.5706 -0.3126 1.013 0.5084 0.002212 -0.139 0.6854 0.9554 0.01895 0.1659 1.13 0.04252 0.02969 0.3183 -0.2968 0.8024 0.8261 0.01958 -0.04934 0.92 0.1932 0.5457 0.1011"/>
+    <key name="grasp hard" qpos="-0.06713 -0.5377 -0.3099 1.128 0.5067 0.001659 -0.1352 0.8652 0.93 0.01263 0.1724 1.165 0.2726 0.034 0.3116 -0.354 0.9553 0.7928 0.01958 0.05755 1.182 0.1947 0.5578 0.2482"/>
+  </keyframe>
+</mujoco>

robots/h1_hand/mjcf/shadow_hand_menagerie/left_hand.xml

@@ -0,0 +1,182 @@
+<mujoco model="left_shadow_hand">
+  <!-- <compiler angle="radian" meshdir="assets" autolimits="true"/> -->
+
+  <!-- <option cone="elliptic" impratio="10"/> -->
+
+
+
+  <!-- <body name="lh_forearm" childclass="left_hand" quat="0 1 0 1"> -->
+    <!-- <inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/> -->
+    <!-- <geom class="left_plastic_visual" mesh="left_forearm_0" material="gray"/> -->
+    <!-- <geom class="left_plastic_visual" mesh="left_forearm_1"/> -->
+    <!-- <geom class="left_plastic_collision" type="mesh" mesh="left_forearm_collision"/> -->
+    <!-- <geom class="left_plastic_collision" size="0.035 0.035 0.035" pos="0.01 0.0 0.181" quat="0.380188 0.924909 0 0" -->
+      <!-- type="box"/> -->
+    <body name="lh_wrist" pos="0.01 0 0.15301" quat="1 0 0 1">
+    <!-- <body name="lh_wrist" pos="0.01 0 0.21301" quat="1 0 0 1"> -->
+      <inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
+      <joint class="left_wrist_y" name="lh_WRJ2"/>
+      <geom class="left_plastic_visual" mesh="left_wrist" material="metallic"/>
+      <!-- <geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="left_plastic_collision"/> -->
+      <geom size="0.011 0.005" pos="0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+      <geom size="0.011 0.005" pos="-0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+      <geom size="0.0135 0.009 0.005" pos="0.021 0 0.011" quat="-0.923879 0 0.382684 0" type="box"
+        class="left_plastic_collision"/>
+      <geom size="0.0135 0.009 0.005" pos="-0.026 0 0.01" quat="-0.923879 0 -0.382684 0" type="box"
+        class="left_plastic_collision"/>
+      <body name="lh_palm" pos="0 0 0.034">
+        <inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
+        <joint class="left_wrist_x" name="lh_WRJ1"/>
+        <geom class="left_plastic_visual" mesh="left_palm"/>
+        <geom size="0.031 0.0035 0.049" pos="-0.011 0.0085 0.038" type="box" class="left_plastic_collision"/>
+        <geom size="0.018 0.0085 0.049" pos="0.002 -0.0035 0.038" type="box" class="left_plastic_collision"/>
+        <geom size="0.013 0.0085 0.005" pos="-0.029 -0.0035 0.082" type="box" class="left_plastic_collision"/>
+        <geom size="0.013 0.007 0.009" pos="-0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 -0.124052"
+          type="box" class="left_plastic_collision"/>
+        <geom size="0.0105 0.0135 0.0112" pos="-0.0315 -0.0085 0.001" type="box" class="left_plastic_collision"/>
+        <geom size="0.011 0.0025 0.015" pos="-0.0125 -0.015 0.004" quat="-0.971338 0 0 -0.237703" type="box"
+          class="left_plastic_collision"/>
+        <geom size="0.009 0.012 0.002" pos="-0.011 0 0.089" type="box" class="left_plastic_collision"/>
+        <geom size="0.01 0.012 0.02" pos="0.03 0 0.009" type="box" class="left_plastic_collision"/>
+        <body name="lh_ffknuckle" pos="-0.033 0 0.095">
+          <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+          <joint name="lh_FFJ4" class="left_knuckle" axis="0 1 0"/>
+          <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+          <body name="lh_ffproximal">
+            <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+            <joint name="lh_FFJ3" class="left_proximal"/>
+            <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+            <body name="lh_ffmiddle" pos="0 0 0.045">
+              <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+              <joint name="lh_FFJ2" class="left_middle_distal"/>
+              <geom class="left_plastic_visual" mesh="left_f_middle"/>
+              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_ffdistal" pos="0 0 0.025">
+                <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                  diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                <joint name="lh_FFJ1" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_mfknuckle" pos="-0.011 0 0.099">
+          <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+          <joint name="lh_MFJ4" class="left_knuckle" axis="0 1 0"/>
+          <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+          <body name="lh_mfproximal">
+            <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+            <joint name="lh_MFJ3" class="left_proximal"/>
+            <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+            <body name="lh_mfmiddle" pos="0 0 0.045">
+              <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+              <joint name="lh_MFJ2" class="left_middle_distal"/>
+              <geom class="left_plastic_visual" mesh="left_f_middle"/>
+              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_mfdistal" pos="0 0 0.025">
+                <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                  diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                <joint name="lh_MFJ1" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_rfknuckle" pos="0.011 0 0.095">
+          <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+          <joint name="lh_RFJ4" class="left_knuckle"/>
+          <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+          <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+          <body name="lh_rfproximal">
+            <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+            <joint name="lh_RFJ3" class="left_proximal"/>
+            <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+            <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+            <body name="lh_rfmiddle" pos="0 0 0.045">
+              <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+              <joint name="lh_RFJ2" class="left_middle_distal"/>
+              <geom class="left_plastic_visual" mesh="left_f_middle"/>
+              <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_rfdistal" pos="0 0 0.025">
+                <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                  diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                <joint name="lh_RFJ1" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_lfmetacarpal" pos="0.033 0 0.02071">
+          <inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
+          <joint name="lh_LFJ5" class="left_metacarpal" axis="0.573576 0 -0.819152"/>
+          <geom class="left_plastic_visual" mesh="left_lf_metacarpal"/>
+          <geom size="0.011 0.012 0.025" pos="-0.002 0 0.033" type="box" class="left_plastic_collision"/>
+          <body name="lh_lfknuckle" pos="0 0 0.06579">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="lh_LFJ4" class="left_knuckle"/>
+            <geom pos="0 0 0.0005" class="left_plastic_visual" mesh="left_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="left_plastic_collision"/>
+            <body name="lh_lfproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="lh_LFJ3" class="left_proximal"/>
+              <geom class="left_plastic_visual" mesh="left_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="left_plastic_collision"/>
+              <body name="lh_lfmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="lh_LFJ2" class="left_middle_distal"/>
+                <geom class="left_plastic_visual" mesh="left_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="left_plastic_collision"/>
+                <body name="lh_lfdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="lh_LFJ1" class="left_middle_distal"/>
+                  <geom class="left_plastic_visual" mesh="left_f_distal_pst"/>
+                  <geom class="left_plastic_collision" type="mesh" mesh="left_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+        <body name="lh_thbase" pos="-0.034 -0.00858 0.029" quat="0 -0.382683 0 0.92388">
+          <inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/>
+          <joint name="lh_THJ5" class="left_thbase"/>
+          <geom class="left_plastic_collision" size="0.013"/>
+          <body name="lh_thproximal">
+            <inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
+            <joint name="lh_THJ4" class="left_thproximal"/>
+            <geom class="left_plastic_visual" mesh="left_th_proximal"/>
+            <geom class="left_plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
+            <body name="lh_thhub" pos="0 0 0.038">
+              <inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
+              <joint name="lh_THJ3" class="left_thhub"/>
+              <geom size="0.011" class="left_plastic_collision"/>
+              <body name="lh_thmiddle">
+                <inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
+                <joint name="lh_THJ2" class="left_thmiddle"/>
+                <geom class="left_plastic_visual" mesh="left_th_middle"/>
+                <geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="left_plastic_collision"/>
+                <geom size="0.01" pos="0 0 0.03" class="left_plastic_collision"/>
+                <body name="lh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
+                  <inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
+                    diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
+                  <joint name="lh_THJ1" class="left_thdistal"/>
+                  <geom class="left_plastic_visual" mesh="left_th_distal_pst"/>
+                  <geom class="left_plastic_collision" type="mesh" mesh="left_th_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    </body>
+  <!-- </body> -->
+
+  
+</mujoco>

robots/h1_hand/mjcf/shadow_hand_menagerie/right_hand.xml

@@ -0,0 +1,178 @@
+<mujoco model="right_shadow_hand">
+  
+
+    <!-- <body name="rh_forearm" childclass="right_hand" quat="0 1 0 1"> -->
+      <!-- <inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/> -->
+      <!-- <geom class="right_plastic_visual" mesh="right_forearm_0" material="gray"/> -->
+      <!-- <geom class="right_plastic_visual" mesh="right_forearm_1"/> -->
+      <!-- <geom class="right_plastic_collision" type="mesh" mesh="right_forearm_collision"/> -->
+      <!-- <geom class="right_plastic_collision" size="0.035 0.035 0.035" pos="0.01 0.0 0.181" quat="0.380188 0.924909 0 0" -->
+        <!-- type="box"/> -->
+      <!-- <body name="rh_wrist" pos="0.01 0 0.21301" quat="1 0 0 1"> -->
+      <body name="rh_wrist" pos="0.01 0 0.15301" quat="1 0 0 1">
+        <inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
+        <joint class="right_wrist_y" name="rh_WRJ2"/>
+        <geom class="right_plastic_visual" mesh="right_wrist" material="metallic"/>
+        <!-- <geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="right_plastic_collision"/> -->
+        <geom size="0.011 0.005" pos="-0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+        <geom size="0.011 0.005" pos="0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+        <geom size="0.0135 0.009 0.005" pos="-0.021 0 0.011" quat="0.923879 0 0.382684 0" type="box"
+          class="right_plastic_collision"/>
+        <geom size="0.0135 0.009 0.005" pos="0.026 0 0.01" quat="0.923879 0 -0.382684 0" type="box"
+          class="right_plastic_collision"/>
+        <body name="rh_palm" pos="0 0 0.034">
+          <inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
+          <joint class="right_wrist_x" name="rh_WRJ1"/>
+          <geom class="right_plastic_visual" mesh="right_palm"/>
+          <geom size="0.031 0.0035 0.049" pos="0.011 0.0085 0.038" type="box" class="right_plastic_collision"/>
+          <geom size="0.018 0.0085 0.049" pos="-0.002 -0.0035 0.038" type="box" class="right_plastic_collision"/>
+          <geom size="0.013 0.0085 0.005" pos="0.029 -0.0035 0.082" type="box" class="right_plastic_collision"/>
+          <geom size="0.013 0.007 0.009" pos="0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 0.124052"
+            type="box" class="right_plastic_collision"/>
+          <geom size="0.0105 0.0135 0.012" pos="0.0315 -0.0085 0.001" type="box" class="right_plastic_collision"/>
+          <geom size="0.011 0.0025 0.015" pos="0.0125 -0.015 0.004" quat="0.971338 0 0 -0.237703" type="box"
+            class="right_plastic_collision"/>
+          <geom size="0.009 0.012 0.002" pos="0.011 0 0.089" type="box" class="right_plastic_collision"/>
+          <geom size="0.01 0.012 0.02" pos="-0.03 0 0.009" type="box" class="right_plastic_collision"/>
+          <body name="rh_ffknuckle" pos="0.033 0 0.095">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="rh_FFJ4" class="right_knuckle"/>
+            <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+            <body name="rh_ffproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="rh_FFJ3" class="right_proximal"/>
+              <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+              <body name="rh_ffmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="rh_FFJ2" class="right_middle_distal"/>
+                <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_ffdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="rh_FFJ1" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                  <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_mfknuckle" pos="0.011 0 0.099">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="rh_MFJ4" class="right_knuckle"/>
+            <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+            <body name="rh_mfproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="rh_MFJ3" class="right_proximal"/>
+              <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+              <body name="rh_mfmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="rh_MFJ2" class="right_middle_distal"/>
+                <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_mfdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="rh_MFJ1" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                  <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_rfknuckle" pos="-0.011 0 0.095">
+            <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+            <joint name="rh_RFJ4" class="right_knuckle" axis="0 1 0"/>
+            <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+            <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+            <body name="rh_rfproximal">
+              <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+              <joint name="rh_RFJ3" class="right_proximal"/>
+              <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+              <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+              <body name="rh_rfmiddle" pos="0 0 0.045">
+                <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                <joint name="rh_RFJ2" class="right_middle_distal"/>
+                <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_rfdistal" pos="0 0 0.025">
+                  <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                    diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                  <joint name="rh_RFJ1" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                  <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_lfmetacarpal" pos="-0.033 0 0.02071">
+            <inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
+            <joint name="rh_LFJ5" class="right_metacarpal"/>
+            <geom class="right_plastic_visual" mesh="right_lf_metacarpal"/>
+            <geom size="0.011 0.012 0.025" pos="0.002 0 0.033" type="box" class="right_plastic_collision"/>
+            <body name="rh_lfknuckle" pos="0 0 0.06579">
+              <inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
+              <joint name="rh_LFJ4" class="right_knuckle" axis="0 1 0"/>
+              <geom pos="0 0 0.0005" class="right_plastic_visual" mesh="right_f_knuckle" material="metallic"/>
+              <geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="right_plastic_collision"/>
+              <body name="rh_lfproximal">
+                <inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
+                <joint name="rh_LFJ3" class="right_proximal"/>
+                <geom class="right_plastic_visual" mesh="right_f_proximal"/>
+                <geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="right_plastic_collision"/>
+                <body name="rh_lfmiddle" pos="0 0 0.045">
+                  <inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
+                  <joint name="rh_LFJ2" class="right_middle_distal"/>
+                  <geom class="right_plastic_visual" mesh="right_f_middle"/>
+                  <geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="right_plastic_collision"/>
+                  <body name="rh_lfdistal" pos="0 0 0.025">
+                    <inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
+                      diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
+                    <joint name="rh_LFJ1" class="right_middle_distal"/>
+                    <geom class="right_plastic_visual" mesh="right_f_distal_pst"/>
+                    <geom class="right_plastic_collision" type="mesh" mesh="right_f_distal_pst"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+          <body name="rh_thbase" pos="0.034 -0.00858 0.029" quat="0.92388 0 0.382683 0">
+            <inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/>
+            <joint name="rh_THJ5" class="right_thbase"/>
+            <geom class="right_plastic_collision" size="0.013"/>
+            <body name="rh_thproximal">
+              <inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
+              <joint name="rh_THJ4" class="right_thproximal"/>
+              <geom class="right_plastic_visual" mesh="right_th_proximal"/>
+              <geom class="right_plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
+              <body name="rh_thhub" pos="0 0 0.038">
+                <inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
+                <joint name="rh_THJ3" class="right_thhub"/>
+                <geom size="0.011" class="right_plastic_collision"/>
+                <body name="rh_thmiddle">
+                  <inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
+                  <joint name="rh_THJ2" class="right_thmiddle"/>
+                  <geom class="right_plastic_visual" mesh="right_th_middle"/>
+                  <geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="right_plastic_collision"/>
+                  <geom size="0.01" pos="0 0 0.03" class="right_plastic_collision"/>
+                  <body name="rh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
+                    <inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
+                      diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
+                    <joint name="rh_THJ1" class="right_thdistal"/>
+                    <geom class="right_plastic_visual" mesh="right_th_distal_pst"/>
+                    <geom class="right_plastic_collision" type="mesh" mesh="right_th_distal_pst"/>
+                  </body>
+                </body>
+              </body>
+            </body>
+          </body>
+        </body>
+      </body>
+    <!-- </body> -->
+
+  
+</mujoco>

robots/h1_hand/mjcf/shadow_hand_menagerie/scene_left.xml

@@ -0,0 +1,29 @@
+<mujoco model="left_shadow_hand scene">
+  <include file="left_hand.xml"/>
+
+  <statistic extent="0.3" center="0.3 0 0"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <quality shadowsize="8192"/>
+    <global azimuth="220" elevation="-30"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" 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="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1"/>
+    <light pos="0.3 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" pos="0 0 -0.1" size="0 0 0.05" type="plane" material="groundplane"/>
+    <body name="object" pos="0.3 0 0.1">
+      <freejoint/>
+      <geom type="ellipsoid" size="0.03 0.04 0.02" rgba="0.5 0.7 0.5 1" condim="6" priority="1"
+        friction="0.5 0.01 0.003"/>
+    </body>
+  </worldbody>
+</mujoco>

robots/h1_hand/mjcf/shadow_hand_menagerie/scene_right.xml

@@ -0,0 +1,29 @@
+<mujoco model="right_shadow_hand scene">
+  <include file="right_hand.xml"/>
+
+  <statistic extent="0.3" center="0.3 0 0"/>
+
+  <visual>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <quality shadowsize="8192"/>
+    <global azimuth="220" elevation="-30"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" 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="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1"/>
+    <light pos="0.3 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" pos="0 0 -0.1" size="0 0 0.05" type="plane" material="groundplane"/>
+    <body name="object" pos="0.3 0 0.1">
+      <freejoint/>
+      <geom type="ellipsoid" size="0.03 0.04 0.02" rgba="0.5 0.7 0.5 1" condim="6" priority="1"
+        friction="0.5 0.01 0.003"/>
+    </body>
+  </worldbody>
+</mujoco>

robots/jetbot/jetbot.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bc3d23936b2677f1274e450933855f4d7edce85032fd0ec02d7191c4b25f6f1
+size 32134906

robots/panda_raisim/meshes/collision/finger.obj

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c05dee2e2770ac3d45a097cec4a9d758e279ebdb7dc550eb249571c4690a6476
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robots/panda_raisim/meshes/collision/hand.obj

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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link0.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link0.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_link1">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link1.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link1.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link2.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link2.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link3.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link3.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link4.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link4.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link5.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link5.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link6.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link6.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/link7.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/link7.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8"/>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/hand.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/hand.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+    <visual>
+      <geometry>
+        <mesh filename="./meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="./meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="./meshes/collision/finger.obj"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="prismatic">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
+    <axis xyz="0 -1 0"/>
+    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
+    <mimic joint="panda_finger_joint1"/>
+  </joint>
+  <material name="panda_white">
+    <color rgba="1. 1. 1. 1."/>
+  </material>
+</robot>