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wyzhgxy commited on
Commit
ddc492c
·
1 Parent(s): 6a0be57

[add] shadow hand mjcf for mujoco

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Files changed (18) hide show
  1. robots/shadow_hand/mjcf/robot.xml +160 -0
  2. robots/shadow_hand/mjcf/shadow_hand.xml +319 -0
  3. robots/shadow_hand/mjcf/shared.xml +126 -0
  4. robots/shadow_hand/mjcf/shared_asset.xml +26 -0
  5. robots/shadow_hand/stls/F1.stl +3 -0
  6. robots/shadow_hand/stls/F2.stl +3 -0
  7. robots/shadow_hand/stls/F3.stl +3 -0
  8. robots/shadow_hand/stls/TH1_z.stl +3 -0
  9. robots/shadow_hand/stls/TH2_z.stl +3 -0
  10. robots/shadow_hand/stls/TH3_z.stl +3 -0
  11. robots/shadow_hand/stls/forearm_electric.stl +3 -0
  12. robots/shadow_hand/stls/forearm_electric_cvx.stl +3 -0
  13. robots/shadow_hand/stls/knuckle.stl +3 -0
  14. robots/shadow_hand/stls/lfmetacarpal.stl +3 -0
  15. robots/shadow_hand/stls/palm.stl +3 -0
  16. robots/shadow_hand/stls/wrist.stl +3 -0
  17. robots/shadow_hand/textures/block.png +3 -0
  18. robots/shadow_hand/textures/block_hidden.png +3 -0
robots/shadow_hand/mjcf/robot.xml ADDED
@@ -0,0 +1,160 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. -->
2
+ <mujoco>
3
+ <body name="robot0:hand mount" pos="1 1.25 0.15" euler="1.5708 0 3.14159">
4
+ <inertial mass="0.1" pos="0 0 0" diaginertia="0.001 0.001 0.001"></inertial>
5
+ <body childclass="robot0:asset_class" name="robot0:forearm" pos="0 0.01 0" euler="0 0 0">
6
+ <inertial pos="0.001 -0.002 0.29" quat="0.982 -0.016 0 -0.188" mass="4" diaginertia="0.01 0.01 0.0075"></inertial>
7
+ <geom class="robot0:D_Vizual" pos="0 0.01 0.04" name="robot0:V_forearm" mesh="robot0:forearm" euler="0 0 1.57"></geom>
8
+ <geom class="robot0:DC_Hand" name="robot0:C_forearm" type="mesh" mesh="robot0:forearm_cvx" pos="0 0.01 0.04" euler="0 0 1.57" rgba="0.4 0.5 0.6 0.7"></geom>
9
+ <body name="robot0:wrist" pos="0 0 0.256">
10
+ <inertial pos="0.003 0 0.016" quat="0.504 0.496 0.495 0.504" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
11
+ <joint name="robot0:WRJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.489 0.14" damping="0.5" armature="0.005" user="1123"></joint>
12
+ <geom class="robot0:D_Vizual" name="robot0:V_wrist" mesh="robot0:wrist"></geom>
13
+ <geom class="robot0:DC_Hand" name="robot0:C_wrist" type="capsule" pos="0 0 0" quat="0.707 0.707 0 0" size="0.015 0.01" rgba="0.4 0.5 0.6 0.1"></geom>
14
+ <body name="robot0:palm" pos="0 0 0.034">
15
+ <inertial pos="0.006 0 0.036" quat="0.716 0.044 0.075 0.693" mass="0.3" diaginertia="0.001 0.001 0.001"></inertial>
16
+ <joint name="robot0:WRJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.698 0.489" damping="0.5" armature="0.005" user="1122"></joint>
17
+ <geom class="robot0:D_Vizual" name="robot0:V_palm" mesh="robot0:palm"></geom>
18
+ <geom class="robot0:DC_Hand" name="robot0:C_palm0" type="box" pos="0.011 0 0.038" size="0.032 0.0111 0.049" rgba="0.4 0.5 0.6 0.1"></geom>
19
+ <geom class="robot0:DC_Hand" name="robot0:C_palm1" type="box" pos="-0.032 0 0.014" size="0.011 0.0111 0.025" rgba="0.4 0.5 0.6 0.1"></geom>
20
+ <body name="robot0:ffknuckle" pos="0.033 0 0.095">
21
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
22
+ <joint name="robot0:FFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1103"></joint>
23
+ <geom class="robot0:D_Vizual" name="robot0:V_ffknuckle" mesh="robot0:knuckle"></geom>
24
+ <body name="robot0:ffproximal" pos="0 0 0">
25
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
26
+ <joint name="robot0:FFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1102"></joint>
27
+ <geom class="robot0:D_Vizual" name="robot0:V_ffproximal" mesh="robot0:F3"></geom>
28
+ <geom class="robot0:DC_Hand" name="robot0:C_ffproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
29
+ <body name="robot0:ffmiddle" pos="0 0 0.045">
30
+ <inertial pos="0 0 0.011" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
31
+ <joint name="robot0:FFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1101"></joint>
32
+ <geom class="robot0:D_Vizual" name="robot0:V_ffmiddle" mesh="robot0:F2"></geom>
33
+ <geom class="robot0:DC_Hand" name="robot0:C_ffmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
34
+ <body name="robot0:ffdistal" pos="0 0 0.025">
35
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
36
+ <joint name="robot0:FFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1100"></joint>
37
+ <geom class="robot0:D_Vizual" name="robot0:V_ffdistal" pos="0 0 0.001" mesh="robot0:F1"></geom>
38
+ <geom class="robot0:DC_Hand" name="robot0:C_ffdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
39
+ <site name="robot0:S_fftip" pos="0 0 0.026" group="3"></site>
40
+ <site class="robot0:D_Touch" name="robot0:Tch_fftip"></site>
41
+ </body>
42
+ </body>
43
+ </body>
44
+ </body>
45
+ <body name="robot0:mfknuckle" pos="0.011 0 0.099">
46
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
47
+ <joint name="robot0:MFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1107"></joint>
48
+ <geom class="robot0:D_Vizual" name="robot0:V_mfknuckle" mesh="robot0:knuckle"></geom>
49
+ <body name="robot0:mfproximal" pos="0 0 0">
50
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
51
+ <joint name="robot0:MFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1106"></joint>
52
+ <geom class="robot0:D_Vizual" name="robot0:V_mfproximal" mesh="robot0:F3"></geom>
53
+ <geom class="robot0:DC_Hand" name="robot0:C_mfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
54
+ <body name="robot0:mfmiddle" pos="0 0 0.045">
55
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
56
+ <joint name="robot0:MFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1105"></joint>
57
+ <geom class="robot0:D_Vizual" name="robot0:V_mfmiddle" mesh="robot0:F2"></geom>
58
+ <geom class="robot0:DC_Hand" name="robot0:C_mfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
59
+ <body name="robot0:mfdistal" pos="0 0 0.025">
60
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
61
+ <joint name="robot0:MFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1104"></joint>
62
+ <geom class="robot0:D_Vizual" name="robot0:V_mfdistal" mesh="robot0:F1"></geom>
63
+ <geom class="robot0:DC_Hand" name="robot0:C_mfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
64
+ <site name="robot0:S_mftip" pos="0 0 0.026" group="3"></site>
65
+ <site class="robot0:D_Touch" name="robot0:Tch_mftip"></site>
66
+ </body>
67
+ </body>
68
+ </body>
69
+ </body>
70
+ <body name="robot0:rfknuckle" pos="-0.011 0 0.095">
71
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
72
+ <joint name="robot0:RFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1111"></joint>
73
+ <geom class="robot0:D_Vizual" name="robot0:V_rfknuckle" mesh="robot0:knuckle"></geom>
74
+ <body name="robot0:rfproximal" pos="0 0 0">
75
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
76
+ <joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
77
+ <geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3"></geom>
78
+ <geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
79
+ <body name="robot0:rfmiddle" pos="0 0 0.045">
80
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
81
+ <joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
82
+ <geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2"></geom>
83
+ <geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
84
+ <body name="robot0:rfdistal" pos="0 0 0.025">
85
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
86
+ <joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
87
+ <geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
88
+ <geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
89
+ <site name="robot0:S_rftip" pos="0 0 0.026" group="3"></site>
90
+ <site class="robot0:D_Touch" name="robot0:Tch_rftip"></site>
91
+ </body>
92
+ </body>
93
+ </body>
94
+ </body>
95
+ <body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
96
+ <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
97
+ <joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
98
+ <geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom>
99
+ <geom class="robot0:DC_Hand" name="robot0:C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
100
+ <body name="robot0:lfknuckle" pos="-0.017 0 0.044">
101
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
102
+ <joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
103
+ <geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle"></geom>
104
+ <body name="robot0:lfproximal" pos="0 0 0">
105
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
106
+ <joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
107
+ <geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3"></geom>
108
+ <geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
109
+ <body name="robot0:lfmiddle" pos="0 0 0.045">
110
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
111
+ <joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
112
+ <geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2"></geom>
113
+ <geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
114
+ <body name="robot0:lfdistal" pos="0 0 0.025">
115
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
116
+ <joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
117
+ <geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
118
+ <geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
119
+ <site name="robot0:S_lftip" pos="0 0 0.026" group="3"></site>
120
+ <site class="robot0:D_Touch" name="robot0:Tch_lftip"></site>
121
+ </body>
122
+ </body>
123
+ </body>
124
+ </body>
125
+ </body>
126
+ <body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
127
+ <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
128
+ <joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
129
+ <geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
130
+ <body name="robot0:thproximal" pos="0 0 0">
131
+ <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
132
+ <joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
133
+ <geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z"></geom>
134
+ <geom class="robot0:DC_Hand" name="robot0:C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
135
+ <body name="robot0:thhub" pos="0 0 0.038">
136
+ <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
137
+ <joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
138
+ <geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
139
+ <body name="robot0:thmiddle" pos="0 0 0">
140
+ <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
141
+ <joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
142
+ <geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z"></geom>
143
+ <geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
144
+ <body name="robot0:thdistal" pos="0 0 0.032">
145
+ <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
146
+ <joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
147
+ <geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z"></geom>
148
+ <geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
149
+ <site name="robot0:S_thtip" pos="0 0 0.0275" group="3"></site>
150
+ <site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
151
+ </body>
152
+ </body>
153
+ </body>
154
+ </body>
155
+ </body>
156
+ </body>
157
+ </body>
158
+ </body>
159
+ </body>
160
+ </mujoco>
robots/shadow_hand/mjcf/shadow_hand.xml ADDED
@@ -0,0 +1,319 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <mujoco>
3
+ <compiler angle="radian" coordinate="local" meshdir="../stls" texturedir="../textures"></compiler>
4
+ <option timestep="0.002" iterations="20" apirate="200">
5
+ <flag warmstart="enable"></flag>
6
+ </option>
7
+
8
+ <size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size>
9
+
10
+ <visual>
11
+ <map fogstart="3" fogend="5" force="0.1"></map>
12
+ <quality shadowsize="4096"></quality>
13
+ </visual>
14
+
15
+ <default>
16
+ <default class="robot0:asset_class">
17
+ <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
18
+ <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
19
+ <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
20
+ <general ctrllimited="true" forcelimited="true"></general>
21
+ </default>
22
+ <default class="robot0:D_Touch">
23
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+ <joint name="robot0:RFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1110"></joint>
233
+ <geom class="robot0:D_Vizual" name="robot0:V_rfproximal" mesh="robot0:F3"></geom>
234
+ <geom class="robot0:DC_Hand" name="robot0:C_rfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
235
+ <body name="robot0:rfmiddle" pos="0 0 0.045">
236
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
237
+ <joint name="robot0:RFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1109"></joint>
238
+ <geom class="robot0:D_Vizual" name="robot0:V_rfmiddle" mesh="robot0:F2"></geom>
239
+ <geom class="robot0:DC_Hand" name="robot0:C_rfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
240
+ <body name="robot0:rfdistal" pos="0 0 0.025">
241
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
242
+ <joint name="robot0:RFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1108"></joint>
243
+ <geom class="robot0:D_Vizual" name="robot0:V_rfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
244
+ <geom class="robot0:DC_Hand" name="robot0:C_rfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
245
+ <site name="robot0:S_rftip" pos="0 0 0.026" group="3"></site>
246
+ <site class="robot0:D_Touch" name="robot0:Tch_rftip"></site>
247
+ </body>
248
+ </body>
249
+ </body>
250
+ </body>
251
+ <body name="robot0:lfmetacarpal" pos="-0.017 0 0.044">
252
+ <inertial pos="-0.014 0.001 0.014" quat="0.709 -0.092 -0.063 0.696" mass="0.075" diaginertia="1e-05 1e-05 1e-05"></inertial>
253
+ <joint name="robot0:LFJ4" type="hinge" pos="0 0 0" axis="0.571 0 0.821" range="0 0.785" user="1116"></joint>
254
+ <geom class="robot0:D_Vizual" name="robot0:V_lfmetacarpal" pos="-0.016 0 -0.023" mesh="robot0:lfmetacarpal"></geom>
255
+ <geom class="robot0:DC_Hand" name="robot0:C_lfmetacarpal" type="box" pos="-0.0165 0 0.01" size="0.0095 0.0111 0.025" rgba="0.4 0.5 0.6 0.2"></geom>
256
+ <body name="robot0:lfknuckle" pos="-0.017 0 0.044">
257
+ <inertial pos="0 0 0" quat="0.52 0.854 0.006 -0.003" mass="0.008" diaginertia="1e-05 1e-05 1e-05"></inertial>
258
+ <joint name="robot0:LFJ3" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.349 0.349" user="1115"></joint>
259
+ <geom class="robot0:D_Vizual" name="robot0:V_lfknuckle" mesh="robot0:knuckle"></geom>
260
+ <body name="robot0:lfproximal" pos="0 0 0">
261
+ <inertial pos="0 0 0.023" quat="0.707 -0.004 0.004 0.707" mass="0.014" diaginertia="1e-05 1e-05 1e-05"></inertial>
262
+ <joint name="robot0:LFJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1114"></joint>
263
+ <geom class="robot0:D_Vizual" name="robot0:V_lfproximal" mesh="robot0:F3"></geom>
264
+ <geom class="robot0:DC_Hand" name="robot0:C_lfproximal" type="capsule" pos="0 0 0.0225" size="0.01 0.0225"></geom>
265
+ <body name="robot0:lfmiddle" pos="0 0 0.045">
266
+ <inertial pos="0 0 0.012" quat="0.707 0 0 0.707" mass="0.012" diaginertia="1e-05 1e-05 1e-05"></inertial>
267
+ <joint name="robot0:LFJ1" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1113"></joint>
268
+ <geom class="robot0:D_Vizual" name="robot0:V_lfmiddle" mesh="robot0:F2"></geom>
269
+ <geom class="robot0:DC_Hand" name="robot0:C_lfmiddle" type="capsule" pos="0 0 0.0125" size="0.00805 0.0125"></geom>
270
+ <body name="robot0:lfdistal" pos="0 0 0.025">
271
+ <inertial pos="0 0 0.015" quat="0.707 -0.003 0.003 0.707" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
272
+ <joint name="robot0:LFJ0" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.571" user="1112"></joint>
273
+ <geom class="robot0:D_Vizual" name="robot0:V_lfdistal" mesh="robot0:F1" pos="0 0 0.001"></geom>
274
+ <geom class="robot0:DC_Hand" name="robot0:C_lfdistal" type="capsule" pos="0 0 0.012" size="0.00705 0.012" condim="4"></geom>
275
+ <site name="robot0:S_lftip" pos="0 0 0.026" group="3"></site>
276
+ <site class="robot0:D_Touch" name="robot0:Tch_lftip"></site>
277
+ </body>
278
+ </body>
279
+ </body>
280
+ </body>
281
+ </body>
282
+ <body name="robot0:thbase" pos="0.034 -0.009 0.029" axisangle="0 1 0 0.785">
283
+ <inertial pos="0 0 0" mass="0.01" diaginertia="1e-05 1e-05 1e-05"></inertial>
284
+ <joint name="robot0:THJ4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-1.047 1.047" user="1121"></joint>
285
+ <geom name="robot0:V_thbase" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
286
+ <body name="robot0:thproximal" pos="0 0 0">
287
+ <inertial pos="0 0 0.017" quat="0.982 0 0.001 0.191" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
288
+ <joint name="robot0:THJ3" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.222" user="1120"></joint>
289
+ <geom class="robot0:D_Vizual" name="robot0:V_thproximal" mesh="robot0:TH3_z"></geom>
290
+ <geom class="robot0:DC_Hand" name="robot0:C_thproximal" type="capsule" pos="0 0 0.019" size="0.013 0.019" rgba="0.4 0.5 0.6 0.1"></geom>
291
+ <body name="robot0:thhub" pos="0 0 0.038">
292
+ <inertial pos="0 0 0" mass="0.002" diaginertia="1e-05 1e-05 1e-05"></inertial>
293
+ <joint name="robot0:THJ2" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.209 0.209" user="1119"></joint>
294
+ <geom name="robot0:V_thhub" type="box" group="1" pos="0 0 0" size="0.001 0.001 0.001"></geom>
295
+ <body name="robot0:thmiddle" pos="0 0 0">
296
+ <inertial pos="0 0 0.016" quat="1 -0.001 -0.007 0.003" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
297
+ <joint name="robot0:THJ1" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.524 0.524" user="1118"></joint>
298
+ <geom class="robot0:D_Vizual" name="robot0:V_thmiddle" mesh="robot0:TH2_z"></geom>
299
+ <geom class="robot0:DC_Hand" name="robot0:C_thmiddle" type="capsule" pos="0 0 0.016" size="0.011 0.016"></geom>
300
+ <body name="robot0:thdistal" pos="0 0 0.032">
301
+ <inertial pos="0 0 0.016" quat="0.999 -0.005 -0.047 0.005" mass="0.016" diaginertia="1e-05 1e-05 1e-05"></inertial>
302
+ <joint name="robot0:THJ0" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.571 0" user="1117"></joint>
303
+ <geom class="robot0:D_Vizual" name="robot0:V_thdistal" mesh="robot0:TH1_z"></geom>
304
+ <geom class="robot0:DC_Hand" name="robot0:C_thdistal" type="capsule" pos="0 0 0.013" size="0.00918 0.013" condim="4"></geom>
305
+ <site name="robot0:S_thtip" pos="0 0 0.0275" group="3"></site>
306
+ <site class="robot0:D_Touch" name="robot0:Tch_thtip" size="0.005 0.011 0.016" pos="-0.005 0 0.02"></site>
307
+ </body>
308
+ </body>
309
+ </body>
310
+ </body>
311
+ </body>
312
+ </body>
313
+ </body>
314
+ </body>
315
+ </body>
316
+
317
+ <light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 1 4" dir="0 0 -1" name="light0"></light>
318
+ </worldbody>
319
+ </mujoco>
robots/shadow_hand/mjcf/shared.xml ADDED
@@ -0,0 +1,126 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. -->
2
+ <mujoco>
3
+ <size njmax="500" nconmax="100" nuser_jnt="1" nuser_site="1" nuser_tendon="1" nuser_sensor="1" nuser_actuator="16" nstack="600000"></size>
4
+
5
+ <visual>
6
+ <map fogstart="3" fogend="5" force="0.1"></map>
7
+ <quality shadowsize="4096"></quality>
8
+ </visual>
9
+
10
+ <default>
11
+ <default class="robot0:asset_class">
12
+ <geom friction="1 0.005 0.001" condim="3" margin="0.0005" contype="1" conaffinity="1"></geom>
13
+ <joint limited="true" damping="0.1" armature="0.001" margin="0.01" frictionloss="0.001"></joint>
14
+ <site size="0.005" rgba="0.4 0.9 0.4 1"></site>
15
+ <general ctrllimited="true" forcelimited="true"></general>
16
+ </default>
17
+ <default class="robot0:D_Touch">
18
+ <site type="box" size="0.009 0.004 0.013" pos="0 -0.004 0.018" rgba="0.8 0.8 0.8 0.15" group="4"></site>
19
+ </default>
20
+ <default class="robot0:DC_Hand">
21
+ <geom material="robot0:MatColl" contype="1" conaffinity="0" group="4"></geom>
22
+ </default>
23
+ <default class="robot0:D_Vizual">
24
+ <geom material="robot0:MatViz" contype="0" conaffinity="0" group="1" type="mesh"></geom>
25
+ </default>
26
+ <default class="robot0:free">
27
+ <joint type="free" damping="0" armature="0" limited="false"></joint>
28
+ </default>
29
+ </default>
30
+
31
+ <contact>
32
+ <pair geom1="robot0:C_ffdistal" geom2="robot0:C_thdistal" condim="1"></pair>
33
+ <pair geom1="robot0:C_ffmiddle" geom2="robot0:C_thdistal" condim="1"></pair>
34
+ <pair geom1="robot0:C_ffproximal" geom2="robot0:C_thdistal" condim="1"></pair>
35
+ <pair geom1="robot0:C_mfproximal" geom2="robot0:C_thdistal" condim="1"></pair>
36
+ <pair geom1="robot0:C_mfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
37
+ <pair geom1="robot0:C_rfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
38
+ <pair geom1="robot0:C_lfdistal" geom2="robot0:C_thdistal" condim="1"></pair>
39
+ <pair geom1="robot0:C_palm0" geom2="robot0:C_thdistal" condim="1"></pair>
40
+ <pair geom1="robot0:C_mfdistal" geom2="robot0:C_ffdistal" condim="1"></pair>
41
+ <pair geom1="robot0:C_rfdistal" geom2="robot0:C_mfdistal" condim="1"></pair>
42
+ <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair>
43
+ <pair geom1="robot0:C_mfproximal" geom2="robot0:C_ffproximal" condim="1"></pair>
44
+ <pair geom1="robot0:C_rfproximal" geom2="robot0:C_mfproximal" condim="1"></pair>
45
+ <pair geom1="robot0:C_lfproximal" geom2="robot0:C_rfproximal" condim="1"></pair>
46
+ <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfdistal" condim="1"></pair>
47
+ <pair geom1="robot0:C_lfdistal" geom2="robot0:C_mfdistal" condim="1"></pair>
48
+ <pair geom1="robot0:C_lfdistal" geom2="robot0:C_rfmiddle" condim="1"></pair>
49
+ <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfdistal" condim="1"></pair>
50
+ <pair geom1="robot0:C_lfmiddle" geom2="robot0:C_rfmiddle" condim="1"></pair>
51
+ </contact>
52
+
53
+ <tendon>
54
+ <fixed name="robot0:T_FFJ1c" limited="true" range="-0.001 0.001">
55
+ <joint joint="robot0:FFJ0" coef="0.00705"></joint>
56
+ <joint joint="robot0:FFJ1" coef="-0.00805"></joint>
57
+ </fixed>
58
+ <fixed name="robot0:T_MFJ1c" limited="true" range="-0.001 0.001">
59
+ <joint joint="robot0:MFJ0" coef="0.00705"></joint>
60
+ <joint joint="robot0:MFJ1" coef="-0.00805"></joint>
61
+ </fixed>
62
+ <fixed name="robot0:T_RFJ1c" limited="true" range="-0.001 0.001">
63
+ <joint joint="robot0:RFJ0" coef="0.00705"></joint>
64
+ <joint joint="robot0:RFJ1" coef="-0.00805"></joint>
65
+ </fixed>
66
+ <fixed name="robot0:T_LFJ1c" limited="true" range="-0.001 0.001">
67
+ <joint joint="robot0:LFJ0" coef="0.00705"></joint>
68
+ <joint joint="robot0:LFJ1" coef="-0.00805"></joint>
69
+ </fixed>
70
+ </tendon>
71
+
72
+ <sensor>
73
+ <jointpos name="robot0:Sjp_WRJ1" joint="robot0:WRJ1"></jointpos>
74
+ <jointpos name="robot0:Sjp_WRJ0" joint="robot0:WRJ0"></jointpos>
75
+ <jointpos name="robot0:Sjp_FFJ3" joint="robot0:FFJ3"></jointpos>
76
+ <jointpos name="robot0:Sjp_FFJ2" joint="robot0:FFJ2"></jointpos>
77
+ <jointpos name="robot0:Sjp_FFJ1" joint="robot0:FFJ1"></jointpos>
78
+ <jointpos name="robot0:Sjp_FFJ0" joint="robot0:FFJ0"></jointpos>
79
+ <jointpos name="robot0:Sjp_MFJ3" joint="robot0:MFJ3"></jointpos>
80
+ <jointpos name="robot0:Sjp_MFJ2" joint="robot0:MFJ2"></jointpos>
81
+ <jointpos name="robot0:Sjp_MFJ1" joint="robot0:MFJ1"></jointpos>
82
+ <jointpos name="robot0:Sjp_MFJ0" joint="robot0:MFJ0"></jointpos>
83
+ <jointpos name="robot0:Sjp_RFJ3" joint="robot0:RFJ3"></jointpos>
84
+ <jointpos name="robot0:Sjp_RFJ2" joint="robot0:RFJ2"></jointpos>
85
+ <jointpos name="robot0:Sjp_RFJ1" joint="robot0:RFJ1"></jointpos>
86
+ <jointpos name="robot0:Sjp_RFJ0" joint="robot0:RFJ0"></jointpos>
87
+ <jointpos name="robot0:Sjp_LFJ4" joint="robot0:LFJ4"></jointpos>
88
+ <jointpos name="robot0:Sjp_LFJ3" joint="robot0:LFJ3"></jointpos>
89
+ <jointpos name="robot0:Sjp_LFJ2" joint="robot0:LFJ2"></jointpos>
90
+ <jointpos name="robot0:Sjp_LFJ1" joint="robot0:LFJ1"></jointpos>
91
+ <jointpos name="robot0:Sjp_LFJ0" joint="robot0:LFJ0"></jointpos>
92
+ <jointpos name="robot0:Sjp_THJ4" joint="robot0:THJ4"></jointpos>
93
+ <jointpos name="robot0:Sjp_THJ3" joint="robot0:THJ3"></jointpos>
94
+ <jointpos name="robot0:Sjp_THJ2" joint="robot0:THJ2"></jointpos>
95
+ <jointpos name="robot0:Sjp_THJ1" joint="robot0:THJ1"></jointpos>
96
+ <jointpos name="robot0:Sjp_THJ0" joint="robot0:THJ0"></jointpos>
97
+ <touch name="robot0:ST_Tch_fftip" site="robot0:Tch_fftip"></touch>
98
+ <touch name="robot0:ST_Tch_mftip" site="robot0:Tch_mftip"></touch>
99
+ <touch name="robot0:ST_Tch_rftip" site="robot0:Tch_rftip"></touch>
100
+ <touch name="robot0:ST_Tch_lftip" site="robot0:Tch_lftip"></touch>
101
+ <touch name="robot0:ST_Tch_thtip" site="robot0:Tch_thtip"></touch>
102
+ </sensor>
103
+
104
+ <actuator>
105
+ <position name="robot0:A_WRJ1" class="robot0:asset_class" user="2038" joint="robot0:WRJ1" ctrlrange="-0.489 0.14" kp="5" forcerange="-4.785 4.785"></position>
106
+ <position name="robot0:A_WRJ0" class="robot0:asset_class" user="2036" joint="robot0:WRJ0" ctrlrange="-0.698 0.489" kp="5" forcerange="-2.175 2.175"></position>
107
+ <position name="robot0:A_FFJ3" class="robot0:asset_class" user="2004" joint="robot0:FFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
108
+ <position name="robot0:A_FFJ2" class="robot0:asset_class" user="2002" joint="robot0:FFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
109
+ <position name="robot0:A_FFJ1" class="robot0:asset_class" user="2000" joint="robot0:FFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
110
+ <position name="robot0:A_MFJ3" class="robot0:asset_class" user="2010" joint="robot0:MFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
111
+ <position name="robot0:A_MFJ2" class="robot0:asset_class" user="2008" joint="robot0:MFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
112
+ <position name="robot0:A_MFJ1" class="robot0:asset_class" user="2006" joint="robot0:MFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
113
+ <position name="robot0:A_RFJ3" class="robot0:asset_class" user="2016" joint="robot0:RFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
114
+ <position name="robot0:A_RFJ2" class="robot0:asset_class" user="2014" joint="robot0:RFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
115
+ <position name="robot0:A_RFJ1" class="robot0:asset_class" user="2012" joint="robot0:RFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
116
+ <position name="robot0:A_LFJ4" class="robot0:asset_class" user="2024" joint="robot0:LFJ4" ctrlrange="0 0.785" kp="1" forcerange="-0.9 0.9"></position>
117
+ <position name="robot0:A_LFJ3" class="robot0:asset_class" user="2022" joint="robot0:LFJ3" ctrlrange="-0.349 0.349" kp="1" forcerange="-0.9 0.9"></position>
118
+ <position name="robot0:A_LFJ2" class="robot0:asset_class" user="2020" joint="robot0:LFJ2" ctrlrange="0 1.571" kp="1" forcerange="-0.9 0.9"></position>
119
+ <position name="robot0:A_LFJ1" class="robot0:asset_class" user="2018" joint="robot0:LFJ1" ctrlrange="0 1.571" kp="1" forcerange="-0.7245 0.7245"></position>
120
+ <position name="robot0:A_THJ4" class="robot0:asset_class" user="2034" joint="robot0:THJ4" ctrlrange="-1.047 1.047" kp="1" forcerange="-2.3722 2.3722"></position>
121
+ <position name="robot0:A_THJ3" class="robot0:asset_class" user="2032" joint="robot0:THJ3" ctrlrange="0 1.222" kp="1" forcerange="-1.45 1.45"></position>
122
+ <position name="robot0:A_THJ2" class="robot0:asset_class" user="2030" joint="robot0:THJ2" ctrlrange="-0.209 0.209" kp="1" forcerange="-0.99 0.99"></position>
123
+ <position name="robot0:A_THJ1" class="robot0:asset_class" user="2028" joint="robot0:THJ1" ctrlrange="-0.524 0.524" kp="1" forcerange="-0.99 0.99"></position>
124
+ <position name="robot0:A_THJ0" class="robot0:asset_class" user="2026" joint="robot0:THJ0" ctrlrange="-1.571 0" kp="1" forcerange="-0.81 0.81"></position>
125
+ </actuator>
126
+ </mujoco>
robots/shadow_hand/mjcf/shared_asset.xml ADDED
@@ -0,0 +1,26 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <!-- See LICENSE.md for legal notices. LICENSE.md must be kept together with this file. -->
2
+ <mujoco>
3
+ <texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
4
+
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Git LFS Details

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