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MouseArmModel

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Files changed (10) hide show
  1. .gitattributes +5 -0
  2. GeomJan01242023/Bone_Segmentation_Humerus.stl +3 -0
  3. GeomJan01242023/Bone_Segmentation_Segment_8.stl +0 -0
  4. GeomJan01242023/Bone_Segments_Hand.stl +3 -0
  5. GeomJan01242023/Bone_Segments_Radius.stl +3 -0
  6. GeomJan01242023/Bone_Segments_Ulna.stl +3 -0
  7. GeomJan01242023/Bones_Scapula.stl +3 -0
  8. GeomJan01242023/Camera.stl +0 -0
  9. mujoco_model_muscle.xml +767 -0
  10. mujoco_model_torque.xml +179 -0
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+ GeomJan01242023/Bone_Segments_Ulna.stl filter=lfs diff=lfs merge=lfs -text
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+ GeomJan01242023/Bones_Scapula.stl filter=lfs diff=lfs merge=lfs -text
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+ <joint name="elbow_flex"
322
+ type="hinge"
323
+ pos="0.00320000 -0.00030000 0.00860000"
324
+ axis="0.00000000 -0.86602542 0.49999997"
325
+ range="-57.29577951 71.61972439"
326
+ limited="true"/>
327
+ <site name="jcenel"
328
+ pos="0.00320000 -0.00030000 0.00860000"
329
+ rgba=".5 .5 .2 .5"
330
+ size="0.0009"/>
331
+
332
+ <geom type="mesh" mesh="Bone_Segments_Ulna" contype="0" conaffinity="0"/>
333
+
334
+ <inertial pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435" mass="0.00071272498462349176" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
335
+ <site name="COM3"
336
+ pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435"
337
+ rgba=".2 .8 .2 .5"
338
+ size="0.0005"/>
339
+
340
+ <!--Attachement-->
341
+ <site name="Biceps_Short_Head_Insertion"
342
+ pos="0.00206182 0.00009756 0.00882748"
343
+ rgba=".1 .2 .6 .5"
344
+ size="0.0002"/>
345
+
346
+ <site name="Biceps_Long_Head_Insertion"
347
+ pos="0.00205791 0.00004879 0.00877397"
348
+ rgba=".1 .2 .6 .5"
349
+ size="0.0002"/>
350
+
351
+ <site name="Triceps_Lat_Head_Insertion"
352
+ pos="0.00407945 -0.00044753 0.00834867"
353
+ rgba=".1 .2 .6 .5"
354
+ size="0.0002"/>
355
+
356
+ <site name="Triceps_Long_Head_Insertion"
357
+ pos="0.00419498 -0.00057041 0.00797751"
358
+ rgba=".1 .2 .6 .5"
359
+ size="0.0002"/>
360
+
361
+ <site name="MaybeBrachialis_InnerHead_Insertion"
362
+ pos="0.0022711976820488228 0.000058667960054253204 0.0087904077547398991"
363
+ rgba=".1 .2 .6 .5"
364
+ size="0.0002"/>
365
+
366
+ <site name="Anconeus_Insertion"
367
+ pos="0.0023999996483325958 -0.0001999999803956598 0.008800002746284008"
368
+ rgba=".1 .2 .6 .5"
369
+ size="0.0002"/>
370
+
371
+ <site name="Short_Anconeus_Insertion"
372
+ pos="0.0038000000640749931 -0.00059999991208314896 0.0082999998703598976"
373
+ rgba=".1 .2 .6 .5"
374
+ size="0.0002"/>
375
+
376
+ <body name="radius"
377
+ pos="-0.00000326 -0.00041155 0.00012026"
378
+ quat="1.00000000 -0.00003490 0.00000000 -0.00000001">
379
+ <geom type="mesh" mesh="Bone_Segments_Radius" contype="0" conaffinity="0"/>
380
+
381
+ <inertial pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018" mass="5.3100000513950363e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
382
+ <site name="COM5"
383
+ pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018"
384
+ rgba=".2 .8 .2 .5"
385
+ size="0.0005"/>
386
+
387
+ <!--Attachement-->
388
+ <site name="MaybeBrachialis_OuterrHead_Insertion"
389
+ pos="0.002099999925121665 0.000059000001783715561 0.0087999999523162842"
390
+ rgba=".1 .2 .6 .5"
391
+ size="0.0002"/>
392
+
393
+ <site name="PronatorTeres-Insertion"
394
+ pos="0.00087550107568740848 0.0011853275020137226 0.010050151513765163"
395
+ rgba=".1 .2 .6 .5"
396
+ size="0.0002"/>
397
+
398
+ <site name="FlexorCarpiRadialis-P2"
399
+ pos="0.00039500295990069212 0.0013726340156420712 0.010208441611422561"
400
+ rgba=".1 .2 .6 .5"
401
+ size="0.0002"/>
402
+
403
+ <site name="Brachioradialis-Insertion"
404
+ pos="-0.0029278056764625027 0.00126620712543319 0.011637220667654609"
405
+ rgba=".1 .2 .6 .5"
406
+ size="0.0002"/>
407
+
408
+ <site name="Triceps_Medial_Head_Insertion"
409
+ pos="0.0038194762507961851 -0.00023364176770013332 0.0083994770629340493"
410
+ rgba=".1 .2 .6 .5"
411
+ size="0.0002"/>
412
+
413
+ <body name="hand"
414
+ pos="0.00249215 0.00414491 0.00156364"
415
+ quat="0.95125125 0.25488699 -0.09960050 -0.14224425">
416
+ <geom type="mesh" mesh="Bone_Segments_Hand" contype="0" conaffinity="0"/>
417
+
418
+ <inertial pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128" mass="7.2599999839439988e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
419
+ <site name="COM4"
420
+ pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128"
421
+ rgba=".2 .8 .2 .5"
422
+ size="0.0005"/>
423
+
424
+ <site
425
+ name="handm"
426
+ pos="-0.0048766345966886893 0.0025063881418005383 0.012287416048729322"
427
+ size="0.00025"
428
+ rgba="1 1 0 1"
429
+ />
430
+
431
+ <!--Attachement-->
432
+ <site name="FlexorCarpiRadialis-Insertion"
433
+ pos="-0.0040155582771694981 0.0015821272299320829 0.011737779242925817"
434
+ rgba=".1 .2 .6 .5"
435
+ size="0.0002"/>
436
+ </body>
437
+ </body>
438
+ </body>
439
+ </body>
440
+ </body>
441
+ </body>
442
+ </body>
443
+ </worldbody>
444
+
445
+ <tendon>
446
+ <!---->
447
+ <spatial name="Pectoralis_Clavicle_Head" width=".0001" rgba=".9 0 0 .5">
448
+ <site site="Pec_Insertion"/>
449
+ <site site="Pec_Midpoint_01"/>
450
+ <site site="Pec_Origin_Clav"/>
451
+ </spatial>
452
+
453
+ <spatial name="Biceps_Short_Head" width=".0001" rgba=".9 0 0 .5">
454
+ <site site="Biceps_Short_Head_Insertion"/>
455
+ <site site="Biceps_Short_Head_P2"/>
456
+ <site site="Biceps_Short_Head_P3"/>
457
+ <site site="Biceps_Short_Head_Origin"/>
458
+ </spatial>
459
+
460
+ <spatial name="Biceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
461
+ <site site="Biceps_Long_Head_Insertion"/>
462
+ <site site="Biceps_Long_Head_P2"/>
463
+ <site site="Biceps_Long_Head_Origin"/>
464
+ </spatial>
465
+
466
+ <spatial name="Deltoid_Medial" width=".0001" rgba=".9 0 0 .5">
467
+ <site site="Deltoid_A_Insertion"/>
468
+ <site site="Deltoid_A-P2"/>
469
+ <site site="Deltoid_A_Origin"/>
470
+ </spatial>
471
+
472
+ <spatial name="Triceps_Lat_Head" width=".0001" rgba=".9 0 0 .5">
473
+ <site site="Triceps_Lat_Head_Insertion"/>
474
+ <site site="Triceps_Lat_Head_Origin"/>
475
+ </spatial>
476
+
477
+ <spatial name="Triceps_Long_Head" width=".0001" rgba=".9 0 0 .5">
478
+ <site site="Triceps_Long_Head_Insertion"/>
479
+ <site site="Triceps_Long_Head_P2"/>
480
+ <site site="Triceps_Long_Head_Origin"/>
481
+ </spatial>
482
+
483
+ <spatial name="Brachialis_Proximal_Head" width=".0001" rgba=".9 0 0 .5">
484
+ <site site="MaybeBrachialis_InnerHead_Insertion"/>
485
+ <site site="MaybeBrachialis_InnerHead_P2"/>
486
+ <site site="MaybeBrachialis_InnerHead_P3"/>
487
+ <site site="MaybeBrachialis_InnerHead_Origin"/>
488
+ </spatial>
489
+
490
+ <spatial name="Brachialis_Distal_Head" width=".0001" rgba=".9 0 0 .5">
491
+ <site site="MaybeBrachialis_OuterrHead_Insertion"/>
492
+ <site site="MaybeBrachialis_OuterrHead_P2"/>
493
+ <site site="MaybeBrachialis_OuterrHead_Origin"/>
494
+ </spatial>
495
+
496
+ <spatial name="Anconeus" width=".0001" rgba=".9 0 0 .5">
497
+ <site site="Anconeus_Origin"/>
498
+ <site site="Anconeus_Insertion"/>
499
+ </spatial>
500
+
501
+ <spatial name="Deltoid_Posterior" width=".0001" rgba=".9 0 0 .5">
502
+ <site site="Deltoid_M_Insertion"/>
503
+ <site site="Deltoid_M_P2"/>
504
+ <site site="Deltoid_M_Origin"/>
505
+ </spatial>
506
+
507
+ <spatial name="Anconeus_Short_Head" width=".0001" rgba=".9 0 0 .5">
508
+ <site site="Short_Anconeus_Insertion"/>
509
+ <site site="Short_Anconeus_Origin"/>
510
+ </spatial>
511
+
512
+ <spatial name="Subscapularis_SuperiorHead" width=".0001" rgba=".9 0 0 .5">
513
+ <site site="Subscapularis_SuperiorHead_Insertion"/>
514
+ <site site="Subscapularis_SuperiorHead_Origin"/>
515
+ </spatial>
516
+
517
+ <spatial name="Infraspinatus" width=".0001" rgba=".9 0 0 .5">
518
+ <site site="Infraspinatus_Insertion"/>
519
+ <site site="Infraspinatus_P1"/>
520
+ <site site="Infraspinatus_Origin"/>
521
+ </spatial>
522
+
523
+ <spatial name="PronatorTeres" width=".0001" rgba=".9 0 0 .5">
524
+ <site site="PronatorTeres-Insertion"/>
525
+ <site site="PronatorTeres-Origin"/>
526
+ </spatial>
527
+
528
+ <spatial name="FlexorCarpiRadialis" width=".0001" rgba=".9 0 0 .5">
529
+ <site site="FlexorCarpiRadialis-Insertion"/>
530
+ <site site="FlexorCarpiRadialis-P2"/>
531
+ <site site="FlexorCarpiRadialis-Origin"/>
532
+ </spatial>
533
+
534
+ <spatial name="Brachioradialis" width=".0001" rgba=".9 0 0 .5">
535
+ <site site="Brachioradialis-Insertion"/>
536
+ <site site="Brachioradialis-Origin"/>
537
+ </spatial>
538
+
539
+ <spatial name="Triceps_Medial_Head" width=".0001" rgba=".9 0 0 .5">
540
+ <site site="Triceps_Medial_Head_Insertion"/>
541
+ <site site="Triceps_Medial_Head-P2"/>
542
+ <site site="Triceps_Medial_Head_Origin"/>
543
+ </spatial>
544
+
545
+ <spatial name="Latissimus_Dorsi_Rostral" width=".0001" rgba=".9 0 0 .5">
546
+ <site site="Latissimus_Dorsi_Rostral-Inserion"/>
547
+ <site site="Latissimus_Dorsi-P2"/>
548
+ <site site="Latissimus_Dorsi-Origin"/>
549
+ </spatial>
550
+
551
+ <spatial name="Latissimus_Dorsi_Caudal" width=".0001" rgba=".9 0 0 .5">
552
+ <site site="Latissimus_Dorsi_Caudal1-Insertion"/>
553
+ <site site="Latissimus_Dorsi_Caudal1-P2"/>
554
+ <site site="Latissimus_Dorsi_Caudal-Origin"/>
555
+ </spatial>
556
+
557
+ <spatial name="Pectoralis_Major_Anterior" width=".0001" rgba=".9 0 0 .5">
558
+ <site site="Pectoralis_Major-Origin"/>
559
+ <site site="Pectoralis_Major-Insertion"/>
560
+ </spatial>
561
+
562
+ <spatial name="Pectoralis_Major_Posterior" width=".0001" rgba=".9 0 0 .5">
563
+ <site site="Pectoralis_Major_Posterior-Origin"/>
564
+ <site site="Pectoralis_Major_Posterior-Insertion"/>
565
+ </spatial>
566
+ </tendon>
567
+
568
+ <actuator>
569
+ <muscle
570
+ name="Pectoralis_Clavicle_Head_act"
571
+ tendon="Pectoralis_Clavicle_Head"
572
+ ctrlrange="0 2"
573
+ force=".32646998763084412"
574
+ vmax="10"
575
+ />
576
+
577
+ <muscle
578
+ name="Biceps_Short_Head_act"
579
+ tendon="Biceps_Short_Head"
580
+ ctrlrange="0 2"
581
+ force=".17758000642061234"
582
+ vmax="100"
583
+ timeconst="0.014999999664723873 0.059999998658895493"
584
+ />
585
+
586
+ <muscle
587
+ name="Biceps_Long_Head_act"
588
+ tendon="Biceps_Long_Head"
589
+ ctrlrange="0 2"
590
+ force=".93419000506401062"
591
+ vmax="10"
592
+ timeconst="0.014999999664723873 0.5"
593
+ />
594
+
595
+ <muscle
596
+ name="Deltoid_Medial_act"
597
+ tendon="Deltoid_Medial"
598
+ ctrlrange="0 2"
599
+ force=".68714998662471771"
600
+ />
601
+
602
+ <muscle
603
+ name="Triceps_Lat_Head_act"
604
+ tendon="Triceps_Lat_Head"
605
+ ctrlrange="0 2"
606
+ force="1.251789927482605"
607
+ />
608
+
609
+ <muscle
610
+ name="Triceps_Long_Head_act"
611
+ tendon="Triceps_Long_Head"
612
+ ctrlrange="0 2"
613
+ force="6.1247199773788452"
614
+ />
615
+
616
+ <muscle
617
+ name="Brachialis_Proximal_Head_act"
618
+ tendon="Brachialis_Proximal_Head"
619
+ ctrlrange="0 2"
620
+ force=".65999001264572144"
621
+ />
622
+
623
+ <muscle
624
+ name="Brachialis_Distal_Head_act"
625
+ tendon="Brachialis_Distal_Head"
626
+ ctrlrange="0 2"
627
+ force=".6712699681520462"
628
+ />
629
+
630
+ <muscle
631
+ name="Anconeus_act"
632
+ tendon="Anconeus"
633
+ ctrlrange="0 2"
634
+ force=".23302000015974045"
635
+ vmax="10"
636
+ />
637
+
638
+ <muscle
639
+ name="Deltoid_Posterior_act"
640
+ tendon="Deltoid_Posterior"
641
+ ctrlrange="0 2"
642
+ force=".6770700216293335"
643
+ vmax="10"
644
+ />
645
+
646
+ <muscle
647
+ name="Anconeus_Short_Head_act"
648
+ tendon="Anconeus_Short_Head"
649
+ ctrlrange="0 2"
650
+ force=".19999999552965164"
651
+ vmax="100"
652
+ />
653
+
654
+ <muscle
655
+ name="Subscapularis_SuperiorHead_act"
656
+ tendon="Subscapularis_SuperiorHead"
657
+ ctrlrange="0 2"
658
+ force=".4072199463844299"
659
+ />
660
+
661
+ <muscle
662
+ name="Infraspinatus_act"
663
+ tendon="Infraspinatus"
664
+ ctrlrange="0.0099999997764825821 2"
665
+ force=".65393000841140747"
666
+ />
667
+
668
+ <muscle
669
+ name="PronatorTeres_act"
670
+ tendon="PronatorTeres"
671
+ ctrlrange="0 2"
672
+ force=".19999999552965164"
673
+ />
674
+
675
+ <muscle
676
+ name="FlexorCarpiRadialis_act"
677
+ tendon="FlexorCarpiRadialis"
678
+ ctrlrange="0 2"
679
+ force=".19999999552965164"
680
+ />
681
+
682
+ <muscle
683
+ name="Brachioradialis_act"
684
+ tendon="Brachioradialis"
685
+ ctrlrange="0 2"
686
+ force=".19999999552965164"
687
+ />
688
+
689
+ <muscle
690
+ name="Triceps_Medial_Head_act"
691
+ tendon="Triceps_Medial_Head"
692
+ ctrlrange="0 2"
693
+ force="1.6010400652885437"
694
+ />
695
+
696
+ <muscle
697
+ name="Latissimus_Dorsi_Rostral_act"
698
+ tendon="Latissimus_Dorsi_Rostral"
699
+ ctrlrange="0 2"
700
+ force="1.3345499336719513"
701
+ />
702
+
703
+ <muscle
704
+ name="Latissimus_Dorsi_Caudal_act"
705
+ tendon="Latissimus_Dorsi_Caudal"
706
+ ctrlrange="0 2"
707
+ force="1.3345499336719513"
708
+ />
709
+
710
+ <muscle
711
+ name="Pectoralis_Major_Anterior_act"
712
+ tendon="Pectoralis_Major_Anterior"
713
+ ctrlrange="0 2"
714
+ force="2.3294399678707123"
715
+ />
716
+
717
+ <muscle
718
+ name="Pectoralis_Major_Posterior_act"
719
+ tendon="Pectoralis_Major_Posterior"
720
+ ctrlrange="0 2"
721
+ force="1.7015500366687775"
722
+ />
723
+
724
+ </actuator>
725
+ <sensor/>
726
+
727
+ <keyframe>
728
+ <!-- qpos order = order of joints in model -->
729
+ <key name="default_pose" qpos="1.5690594131319469 0 0 0.94480200333927733"/>
730
+ </keyframe>
731
+ </mujoco>
732
+
733
+ <!-- HOW THE ORIGINAL MODE MESHES WERE LAID OUT:
734
+ I converted it as a frame-transform problem, not a mesh-offset problem.
735
+
736
+ In brief, I did this:
737
+
738
+ I read the OpenSim joint definitions as two offset frames:
739
+
740
+ a parent frame on the parent bone
741
+
742
+ a child frame on the child bone
743
+
744
+ For the version that matched what you wanted, I set the movable joint coordinates to zero instead of using the OpenSim default coordinate values.
745
+
746
+ For each bone, I computed its pose from the OpenSim relation
747
+
748
+ T_child = T_parent * T_parentOffset * T_joint(0) * inverse(T_childOffset)
749
+
750
+ Since this was the zero-pose check, T_joint(0) was just the zero-angle joint transform.
751
+
752
+ I then wrote the resulting transform directly onto each MuJoCo body as a pos and quat.
753
+
754
+ I left the bone meshes at identity under those bodies, instead of adding extra geom offsets. That matters because your earlier XML was effectively applying transforms twice in different places, which is why the later bones started drifting.
755
+
756
+ So the main fix was:
757
+
758
+ use the OpenSim joint-frame math directly
759
+
760
+ set joint values to zero
761
+
762
+ bake the result into body poses
763
+
764
+ remove the extra nested compensation frames
765
+
766
+ That’s why the socket locations were already “close” before, but the orientations were wrong: the hierarchy had roughly the right attachment points, but the rotations were being accumulated in the wrong frames.
767
+ -->
mujoco_model_torque.xml ADDED
@@ -0,0 +1,179 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" encoding="utf-8"?>
2
+ <mujoco model="mouse">
3
+ <compiler angle="degree">
4
+ <lengthrange mode="muscle" timestep="0"/>
5
+ </compiler>
6
+
7
+ <option integrator="RK4" timestep="0.001" solver="CG" iterations="6" ls_iterations="6"/>
8
+
9
+ <default>
10
+ <joint limited="true" solreflimit="0.01 1" solimplimit="0.99 0.9999 0" armature="4e-8" damping="1e-5" stiffness="1e-12"/>
11
+ <muscle ctrllimited="true" ctrlrange="0 1"/>
12
+ </default>
13
+
14
+ <size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
15
+
16
+ <visual>
17
+ <scale framelength="0.5" framewidth="0.01"/>
18
+ <global offheight="512"/>
19
+ </visual>
20
+
21
+ <asset>
22
+ <material name="target" rgba="0.6 0.3 0.3 0.3"/>
23
+ <texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
24
+ <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
25
+ <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
26
+
27
+ <mesh name="Bones_Scapula" file="./GeomJan01242023/Bones_Scapula.stl"/>
28
+ <mesh name="Bone_Segmentation_Segment_8" file="./GeomJan01242023/Bone_Segmentation_Segment_8.stl"/>
29
+ <mesh name="Bone_Segmentation_Humerus" file="./GeomJan01242023/Bone_Segmentation_Humerus.stl"/>
30
+ <mesh name="Bone_Segments_Ulna" file="./GeomJan01242023/Bone_Segments_Ulna.stl"/>
31
+ <mesh name="Bone_Segments_Radius" file="./GeomJan01242023/Bone_Segments_Radius.stl"/>
32
+ <mesh name="Bone_Segments_Hand" file="./GeomJan01242023/Bone_Segments_Hand.stl"/>
33
+ </asset>
34
+
35
+ <worldbody>
36
+ <light directional="true"/>
37
+ <body name="ground">
38
+ <camera name="my_camera" pos="0.04 .004 0.037" fovy="20"
39
+ quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
40
+ <camera name="close-profile" pos="0.04 .004 0.037" fovy="20"
41
+ quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
42
+
43
+ <body name="arm_root"
44
+ pos="0 0 0"
45
+ quat="0.5 0.5 0.5 0.5">
46
+
47
+ <body name="scapula"
48
+ pos="0 0 0"
49
+ quat="0.63302222 0.13302222 0.75440651 0.11161889">
50
+ <geom type="mesh" mesh="Bones_Scapula" contype="0" conaffinity="0"/>
51
+
52
+ <inertial pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512" mass="0.00030000001424923539" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
53
+ <site name="COM1"
54
+ pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512"
55
+ rgba=".2 .8 .2 .5"
56
+ size="0.0002"/>
57
+
58
+
59
+ <body name="clavicle"
60
+ pos="-0.00186349 -0.00240113 0.00264621"
61
+ quat="0.99240380 -0.08682489 0.08682340 0.00760476">
62
+ <geom type="mesh" mesh="Bone_Segmentation_Segment_8" contype="0" conaffinity="0"/>
63
+
64
+ <inertial pos="0 0 0" mass="3.5299999581184238e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
65
+ <site name="COM6"
66
+ pos="0 0 0"
67
+ rgba=".2 .8 .2 .5"
68
+ size="0.0002"/>
69
+
70
+ </body>
71
+
72
+ <body name="humerus"
73
+ pos="-0.00526908 0.00709871 0.01138070"
74
+ quat="0.87214846 0.05125853 0.42527927 -0.23636239">
75
+
76
+ <!-- shoulder joints: add these, do not change humerus pose -->
77
+ <joint name="elv_angle"
78
+ type="hinge"
79
+ pos="0.00840090 0.00138800 0.01236983"
80
+ axis="-0.76529511 -0.11091370 0.63261453"
81
+ range="-28.64788976 157.56339366"
82
+ limited="true"/>
83
+ <joint name="shoulder_ext"
84
+ type="hinge"
85
+ pos="0.00840090 0.00138800 0.01236983"
86
+ axis="-0.36827993 0.88203501 -0.29079843"
87
+ range="-83.54085653 126.05071766"
88
+ limited="true"/>
89
+ <joint name="shoulder_rot"
90
+ type="hinge"
91
+ pos="0.00840090 0.00138800 0.01236983"
92
+ axis="0.52658517 0.45514852 0.71674785"
93
+ range="-57.29577951 28.64788976"
94
+ limited="true"/>
95
+
96
+ <geom type="mesh" mesh="Bone_Segmentation_Humerus" contype="0" conaffinity="0"/>
97
+
98
+ <inertial pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339" mass="0.00012589999823831022" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
99
+ <site name="COM2"
100
+ pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339"
101
+ rgba=".2 .8 .2 .5"
102
+ size="0.0005"/>
103
+
104
+ <body name="ulna"
105
+ pos="-0.00378201 0.00461677 0.00462321"
106
+ quat="0.92121983 0.24684012 0.29045952 -0.07782838">
107
+
108
+ <joint name="elbow_flex"
109
+ type="hinge"
110
+ pos="0.00320000 -0.00030000 0.00860000"
111
+ axis="0.00000000 -0.86602542 0.49999997"
112
+ range="-57.29577951 71.61972439"
113
+ limited="true"/>
114
+ <site name="jcenel"
115
+ pos="0.00320000 -0.00030000 0.00860000"
116
+ rgba=".5 .5 .2 .5"
117
+ size="0.0009"/>
118
+
119
+ <geom type="mesh" mesh="Bone_Segments_Ulna" contype="0" conaffinity="0"/>
120
+
121
+ <inertial pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435" mass="0.00071272498462349176" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
122
+ <site name="COM3"
123
+ pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435"
124
+ rgba=".2 .8 .2 .5"
125
+ size="0.0005"/>
126
+
127
+ <body name="radius"
128
+ pos="-0.00000326 -0.00041155 0.00012026"
129
+ quat="1.00000000 -0.00003490 0.00000000 -0.00000001">
130
+ <geom type="mesh" mesh="Bone_Segments_Radius" contype="0" conaffinity="0"/>
131
+
132
+ <inertial pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018" mass="5.3100000513950363e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
133
+ <site name="COM5"
134
+ pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018"
135
+ rgba=".2 .8 .2 .5"
136
+ size="0.0005"/>
137
+
138
+ <body name="hand"
139
+ pos="0.00249215 0.00414491 0.00156364"
140
+ quat="0.95125125 0.25488699 -0.09960050 -0.14224425">
141
+ <geom type="mesh" mesh="Bone_Segments_Hand" contype="0" conaffinity="0"/>
142
+
143
+ <inertial pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128" mass="7.2599999839439988e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
144
+ <site name="COM4"
145
+ pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128"
146
+ rgba=".2 .8 .2 .5"
147
+ size="0.0005"/>
148
+
149
+ <site
150
+ name="handm"
151
+ pos="-0.0048766345966886893 0.0025063881418005383 0.012287416048729322"
152
+ size="0.00025"
153
+ rgba="1 1 0 1"
154
+ />
155
+ </body>
156
+ </body>
157
+ </body>
158
+ </body>
159
+ </body>
160
+ </body>
161
+ </body>
162
+ </worldbody>
163
+
164
+ <tendon>
165
+ </tendon>
166
+
167
+ <actuator>
168
+ <motor joint="elv_angle" ctrlrange="-1 1" gear=".001"/>
169
+ <motor joint="shoulder_ext" ctrlrange="-1 1" gear=".001"/>
170
+ <motor joint="shoulder_rot" ctrlrange="-1 1" gear=".001"/>
171
+ <motor joint="elbow_flex" ctrlrange="-1 1" gear=".001"/>
172
+ </actuator>
173
+ <sensor/>
174
+
175
+ <keyframe>
176
+ <!-- qpos order = order of joints in model -->
177
+ <key name="default_pose" qpos="1.5690594131319469 0 0 0.94480200333927733"/>
178
+ </keyframe>
179
+ </mujoco>