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Datasets:
openrobokit
/
robokit

Tags:
robotics
urdf
retargeting
License:
Dataset card Files
xet
jianglongye commited on
Commit
ff4e66d
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verified ·
1 Parent(s): c2cbfaf

Sharpa hand: right_hand_fit.xml and left_hand_fit.xml, the finger collision geoms refit to the visual meshes

Browse files
Files changed (3) hide show
  1. robots/robot_mj_description/end_effectors/sharpa_hand/CHANGELOG.md +7 -0
  2. robots/robot_mj_description/end_effectors/sharpa_hand/left_hand_fit.xml +373 -0
  3. robots/robot_mj_description/end_effectors/sharpa_hand/right_hand_fit.xml +393 -0
robots/robot_mj_description/end_effectors/sharpa_hand/CHANGELOG.md CHANGED
@@ -4,6 +4,13 @@
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  ### Added
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  - Initial MJCF model of the Sharpa Wave hand (left and right) derived from the
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  upstream URDF at
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  [sharpa-robotics/sharpa-urdf-usd-xml@6eea427eb24189519f32b9f21674cd534d3f973c](https://github.com/sharpa-robotics/sharpa-urdf-usd-xml/commit/6eea427eb24189519f32b9f21674cd534d3f973c).
 
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  ### Added
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+ - `left_hand_fit.xml` and `right_hand_fit.xml`: the same hands with every finger
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+ collision capsule and cylinder (20 per hand) refit to its link's visual
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+ meshes: end points and radius by least squares on the meshes' support
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+ function over 2000 directions, sticking out past the mesh weighted 5x, so the
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+ drawn fingertips touch where the collision geoms do (in a tripod grasp the
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+ drawn index and middle pads sat 0.9-1.7 mm behind their old capsules). The
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+ original files are unchanged.
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  - Initial MJCF model of the Sharpa Wave hand (left and right) derived from the
15
  upstream URDF at
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  [sharpa-robotics/sharpa-urdf-usd-xml@6eea427eb24189519f32b9f21674cd534d3f973c](https://github.com/sharpa-robotics/sharpa-urdf-usd-xml/commit/6eea427eb24189519f32b9f21674cd534d3f973c).
robots/robot_mj_description/end_effectors/sharpa_hand/left_hand_fit.xml ADDED
@@ -0,0 +1,373 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="left_sharpa_wave">
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+ <compiler angle="radian" meshdir="assets/left/"/>
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+
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+ <option integrator="implicitfast" impratio="10" cone="elliptic"/>
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+
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+ <default>
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+ <default class="sharpa">
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+ <position inheritrange="1.0"/>
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+ <site size="0.0025 0.005 0.005" group="5" rgba="1 0 0 1"/>
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+ <default class="visual">
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+ <geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver"/>
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+ <default class="elastomer_visual">
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+ <geom material="green"/>
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+ </default>
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+ </default>
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+ <default class="collision">
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+ <geom type="mesh" group="3" solref="0.01" rgba="0.2 0.6 0.2 0.25"/>
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+ <default class="elastomer_collision">
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+ <geom solref="0.06 0.9"/>
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+ </default>
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+ </default>
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+ <default class="CMC_joint">
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+ <joint actuatorfrcrange="-3.3 3.3" armature="0.0032" damping="4.2e-05" frictionloss="0.132"/>
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+ </default>
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+ <default class="PCMC_joint">
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+ <joint actuatorfrcrange="-0.5285 0.5285" armature="0.00012" damping="4.2e-05" frictionloss="0.012"/>
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+ </default>
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+ <default class="MCP_joint">
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+ <joint actuatorfrcrange="-1.864 1.864" armature="0.00265" damping="2.38e-05" frictionloss="0.07456"/>
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+ </default>
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+ <default class="PIP_joint">
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+ <joint actuatorfrcrange="-0.638 0.638" armature="0.0006" damping="4.06e-06" frictionloss="0.01276"/>
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+ </default>
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+ <default class="DIP_joint">
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+ <joint actuatorfrcrange="-0.189369 0.189369" armature="0.00042" damping="1.21e-06" frictionloss="0.00378738"/>
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+ </default>
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+ </default>
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+ </default>
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+
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+ <asset>
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+ <material name="silver" rgba="0.79 0.82 0.93 1"/>
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+ <material name="green" rgba="0.2 1 0.2 1"/>
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+
44
+ <mesh name="left_hand_C_MC_visual" file="left_hand_C_MC_visual.STL"/>
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+ <mesh name="left_hand_C_MC" file="left_hand_C_MC.STL"/>
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+ <mesh name="left_thumb_CMC_VL" file="left_thumb_CMC_VL.STL"/>
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+ <mesh name="left_thumb_MC_visual" file="left_thumb_MC_visual.STL"/>
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+ <mesh name="left_thumb_MC" file="left_thumb_MC.STL"/>
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+ <mesh name="left_thumb_MCP_VL_visual" file="left_thumb_MCP_VL_visual.STL"/>
50
+ <mesh name="left_thumb_PP_visual" file="left_thumb_PP_visual.STL"/>
51
+ <mesh name="left_thumb_PP" file="left_thumb_PP.STL"/>
52
+ <mesh name="DP_Visual_HB1_TH" file="DP_Visual_HB1_TH.STL"/>
53
+ <mesh name="DP_HB1_TH" file="DP_HB1_TH.STL"/>
54
+ <mesh name="elastomer_HB1_TH" file="elastomer_HB1_TH.STL"/>
55
+ <mesh name="left_MCP_VL_visual" file="left_MCP_VL_visual.STL"/>
56
+ <mesh name="MCP_VL" file="MCP_VL.STL"/>
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+ <mesh name="left_PP_visual" file="left_PP_visual.STL"/>
58
+ <mesh name="left_PP" file="left_PP.STL"/>
59
+ <mesh name="left_MP_visual" file="left_MP_visual.STL"/>
60
+ <mesh name="left_MP" file="left_MP.STL"/>
61
+ <mesh name="DP_visual_HB1_4F" file="DP_visual_HB1_4F.STL"/>
62
+ <mesh name="DP_HB1_4F" file="DP_HB1_4F.STL"/>
63
+ <mesh name="elastomer_HB1_4F" file="elastomer_HB1_4F.STL"/>
64
+ <mesh name="left_pinky_MC_visual" file="left_pinky_MC_visual.STL"/>
65
+ <mesh name="left_pinky_MC" file="left_pinky_MC.STL"/>
66
+ <mesh name="palm000" file="palm/palm000.obj"/>
67
+ <mesh name="palm001" file="palm/palm001.obj"/>
68
+ <mesh name="palm002" file="palm/palm002.obj"/>
69
+ <mesh name="palm003" file="palm/palm003.obj"/>
70
+ <mesh name="palm004" file="palm/palm004.obj"/>
71
+ <mesh name="palm005" file="palm/palm005.obj"/>
72
+ <mesh name="palm006" file="palm/palm006.obj"/>
73
+ <mesh name="palm007" file="palm/palm007.obj"/>
74
+ <mesh name="palm008" file="palm/palm008.obj"/>
75
+ <mesh name="palm009" file="palm/palm009.obj"/>
76
+ <mesh name="palm010" file="palm/palm010.obj"/>
77
+ <mesh name="palm011" file="palm/palm011.obj"/>
78
+ <mesh name="palm012" file="palm/palm012.obj"/>
79
+ <mesh name="palm013" file="palm/palm013.obj"/>
80
+ <mesh name="palm014" file="palm/palm014.obj"/>
81
+ <mesh name="palm015" file="palm/palm015.obj"/>
82
+ <mesh name="palm016" file="palm/palm016.obj"/>
83
+ <mesh name="palm017" file="palm/palm017.obj"/>
84
+ <mesh name="palm018" file="palm/palm018.obj"/>
85
+ <mesh name="palm019" file="palm/palm019.obj"/>
86
+ <mesh name="palm020" file="palm/palm020.obj"/>
87
+ <mesh name="palm021" file="palm/palm021.obj"/>
88
+ <mesh name="palm022" file="palm/palm022.obj"/>
89
+ <mesh name="palm023" file="palm/palm023.obj"/>
90
+ <mesh name="palm024" file="palm/palm024.obj"/>
91
+ <mesh name="palm025" file="palm/palm025.obj"/>
92
+ <mesh name="palm026" file="palm/palm026.obj"/>
93
+ <mesh name="palm027" file="palm/palm027.obj"/>
94
+ <mesh name="palm028" file="palm/palm028.obj"/>
95
+ <mesh name="palm029" file="palm/palm029.obj"/>
96
+ <mesh name="palm030" file="palm/palm030.obj"/>
97
+ <mesh name="palm031" file="palm/palm031.obj"/>
98
+ </asset>
99
+
100
+ <worldbody>
101
+ <body name="left_hand_C_MC" childclass="sharpa">
102
+ <geom name="left_hand_C_MC_visual" class="visual" mass="0.72045" mesh="left_hand_C_MC_visual"/>
103
+ <geom name="palm000_collision" class="collision" mesh="palm000"/>
104
+ <geom name="palm001_collision" class="collision" mesh="palm001"/>
105
+ <geom name="palm002_collision" class="collision" mesh="palm002"/>
106
+ <geom name="palm003_collision" class="collision" mesh="palm003"/>
107
+ <geom name="palm004_collision" class="collision" mesh="palm004"/>
108
+ <geom name="palm005_collision" class="collision" mesh="palm005"/>
109
+ <geom name="palm006_collision" class="collision" mesh="palm006"/>
110
+ <geom name="palm007_collision" class="collision" mesh="palm007"/>
111
+ <geom name="palm008_collision" class="collision" mesh="palm008"/>
112
+ <geom name="palm009_collision" class="collision" mesh="palm009"/>
113
+ <geom name="palm010_collision" class="collision" mesh="palm010"/>
114
+ <geom name="palm011_collision" class="collision" mesh="palm011"/>
115
+ <geom name="palm012_collision" class="collision" mesh="palm012"/>
116
+ <geom name="palm013_collision" class="collision" mesh="palm013"/>
117
+ <geom name="palm014_collision" class="collision" mesh="palm014"/>
118
+ <geom name="palm015_collision" class="collision" mesh="palm015"/>
119
+ <geom name="palm016_collision" class="collision" mesh="palm016"/>
120
+ <geom name="palm017_collision" class="collision" mesh="palm017"/>
121
+ <geom name="palm018_collision" class="collision" mesh="palm018"/>
122
+ <geom name="palm019_collision" class="collision" mesh="palm019"/>
123
+ <geom name="palm020_collision" class="collision" mesh="palm020"/>
124
+ <geom name="palm021_collision" class="collision" mesh="palm021"/>
125
+ <geom name="palm022_collision" class="collision" mesh="palm022"/>
126
+ <geom name="palm023_collision" class="collision" mesh="palm023"/>
127
+ <geom name="palm024_collision" class="collision" mesh="palm024"/>
128
+ <geom name="palm025_collision" class="collision" mesh="palm025"/>
129
+ <geom name="palm026_collision" class="collision" mesh="palm026"/>
130
+ <geom name="palm027_collision" class="collision" mesh="palm027"/>
131
+ <geom name="palm028_collision" class="collision" mesh="palm028"/>
132
+ <geom name="palm029_collision" class="collision" mesh="palm029"/>
133
+ <geom name="palm030_collision" class="collision" mesh="palm030"/>
134
+ <geom name="palm031_collision" class="collision" mesh="palm031"/>
135
+ <site name="wrist_site" pos="0 0 0"/>
136
+ <body name="left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108">
137
+ <inertial pos="-0.00065 -0.0002 0" quat="0.557664 0.434754 -0.557664 0.434754" mass="0.0025"
138
+ diaginertia="2.6e-07 2.12661e-07 1.34339e-07"/>
139
+ <joint name="left_thumb_CMC_FE" class="CMC_joint" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199"/>
140
+ <geom class="visual" mesh="left_thumb_CMC_VL"/>
141
+ <geom name="left_thumb_CMC_VL_fit" size="0.0106507516 0.0057141839" pos="-0.000282043592 0.0001355605509 2.720296087e-07" quat="0.9999999671 -0.0002193780093 -0.0001329526755 0"
142
+ type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35"/>
143
+ <body name="left_thumb_MC" pos="0 -0.005 0" quat="0.65328 0.653282 -0.270598 0.270599">
144
+ <inertial pos="0.03643 -0.01024 -0.00517" quat="0.154462 0.683763 0.151259 0.696943" mass="0.13587"
145
+ diaginertia="4.69153e-05 4.29066e-05 1.92101e-05"/>
146
+ <joint name="left_thumb_CMC_AA" class="CMC_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
147
+ <geom class="visual" mesh="left_thumb_MC_visual"/>
148
+ <geom name="left_thumb_MC_fit" size="0.01414379858 0.01913342392" pos="0.03912602327 -0.01083135274 -0.009291260195"
149
+ quat="0.6991071466 -0.09652150603 0.7084721564 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
150
+ <body name="left_thumb_MCP_VL" pos="0.065 -0.006 -0.010392" quat="0.965926 -0.25882 0 0">
151
+ <joint name="left_thumb_MCP_FE" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963"/>
152
+ <geom class="visual" mass="8e-05" mesh="left_thumb_MCP_VL_visual"/>
153
+ <body name="left_thumb_PP" quat="0.707105 0.707108 0 0">
154
+ <inertial pos="0.021256 -0.00095 0.00092" quat="0.511613 0.44358 0.554609 0.483631" mass="0.03078"
155
+ diaginertia="6.08344e-06 5.91207e-06 1.22148e-06"/>
156
+ <joint name="left_thumb_MCP_AA" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
157
+ <geom class="visual" mesh="left_thumb_PP_visual"/>
158
+ <geom name="left_thumb_PP_fit" size="0.01037012469 0.00914839768" pos="0.02638795429 1.013443682e-05 0.001120937239"
159
+ quat="0.6905923696 -0.001469913473 0.7232427106 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
160
+ <body name="left_thumb_DP" pos="0.039 0 0" quat="0.707105 -0.707108 0 0">
161
+ <inertial pos="0.00823663 -0.00178196 -0.00099988" quat="-0.255956 0.713878 -0.187417 0.624291"
162
+ mass="0.00998" diaginertia="1.09014e-06 1.041e-06 2.95174e-07"/>
163
+ <joint name="left_thumb_IP" class="PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
164
+ <geom class="visual" mesh="DP_Visual_HB1_TH"/>
165
+ <geom class="visual" quat="0.5 0.5 -0.5 0.5" material="green" mesh="elastomer_HB1_TH"/>
166
+ <geom name="left_thumb_fingertip_collision" class="elastomer_collision" size="0.008224181566 0.007046806792"
167
+ pos="0.01500204974 -0.003830144381 -2.372338255e-06" quat="0.706999095 -0.02636239818 0.7067229327 0" type="capsule"/>
168
+ <site name="left_thumb_fingertip" pos="0.0276109 0 0" quat="0.5 0.5 0.5 0.5"/>
169
+ </body>
170
+ </body>
171
+ </body>
172
+ </body>
173
+ </body>
174
+ <body name="left_index_MCP_VL" pos="0.001 -0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5">
175
+ <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221"
176
+ diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
177
+ <joint name="left_index_MCP_FE" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
178
+ <geom class="visual" mesh="left_MCP_VL_visual"/>
179
+ <geom name="left_index_MCP_VL_fit" size="0.01039127192 0.005122598235" pos="-0.0002407839146 0.0003359085443 -4.176252422e-07" quat="0.9999999142 -0.000309262668 -0.000275780408 0" type="cylinder"
180
+ group="3" rgba="0.2 0.6 0.2 0.35"/>
181
+ <body name="left_index_PP" quat="0.707105 0.707108 0 0">
182
+ <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741"
183
+ diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
184
+ <joint name="left_index_MCP_AA" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
185
+ <geom class="visual" mesh="left_PP_visual"/>
186
+ <geom name="left_index_PP_fit" size="0.0100359316 0.01346379443" pos="0.03187874127 -3.736979826e-05 0.0006854236702"
187
+ quat="0.7177903798 0.002852662167 0.6962534258 -0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
188
+ <body name="left_index_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
189
+ <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824"
190
+ diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
191
+ <joint name="left_index_PIP" class="PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
192
+ <geom class="visual" mesh="left_MP_visual"/>
193
+ <geom name="left_index_MP_fit" size="0.008711498365 0.009940402565" pos="0.01822339536 -0.002049516943 -1.884924306e-06"
194
+ quat="0.7071189816 -0.06471209251 0.7041271838 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
195
+ <body name="left_index_DP" pos="0.0315 0 0">
196
+ <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325"
197
+ mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07"/>
198
+ <joint name="left_index_DIP" class="DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
199
+ <geom class="visual" mesh="DP_visual_HB1_4F"/>
200
+ <geom class="visual" quat="0.5 0.5 -0.5 0.5" material="green" mesh="elastomer_HB1_4F"/>
201
+ <geom name="left_index_fingertip_collision" class="elastomer_collision" size="0.007277354942 0.005921911705"
202
+ pos="0.01372081668 -0.002441851642 -5.028825694e-06" quat="0.7072976595 -0.05211060406 0.7049925573 0" type="capsule"/>
203
+ <site name="left_index_fingertip" pos="0.0260093 0 0" quat="0.5 0.5 0.5 0.5"/>
204
+ </body>
205
+ </body>
206
+ </body>
207
+ </body>
208
+ <body name="left_middle_MCP_VL" pos="0 -0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5">
209
+ <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221"
210
+ diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
211
+ <joint name="left_middle_MCP_FE" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
212
+ <geom class="visual" mesh="left_MCP_VL_visual"/>
213
+ <geom name="left_middle_MCP_VL_fit" size="0.01039127192 0.005122598235" pos="-0.0002407839146 0.0003359085443 -4.176252422e-07" quat="0.9999999142 -0.000309262668 -0.000275780408 0" type="cylinder"
214
+ group="3" rgba="0.2 0.6 0.2 0.35"/>
215
+ <body name="left_middle_PP" quat="0.707105 0.707108 0 0">
216
+ <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741"
217
+ diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
218
+ <joint name="left_middle_MCP_AA" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
219
+ <geom class="visual" mesh="left_PP_visual"/>
220
+ <geom name="left_middle_PP_fit" size="0.0100359316 0.01346379443" pos="0.03187874127 -3.736979823e-05 0.0006854236702"
221
+ quat="0.7177903798 0.002852662167 0.6962534258 -0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
222
+ <body name="left_middle_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
223
+ <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824"
224
+ diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
225
+ <joint name="left_middle_PIP" class="PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
226
+ <geom class="visual" mesh="left_MP_visual"/>
227
+ <geom name="left_middle_MP_fit" size="0.008711498365 0.009940402565" pos="0.01822339536 -0.002049516943 -1.884924338e-06"
228
+ quat="0.7071189816 -0.06471209251 0.7041271838 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
229
+ <body name="left_middle_DP" pos="0.0315 0 0">
230
+ <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325"
231
+ mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07"/>
232
+ <joint name="left_middle_DIP" class="DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
233
+ <geom class="visual" mesh="DP_visual_HB1_4F"/>
234
+ <geom class="visual" quat="0.5 0.5 -0.5 0.5" material="green" mesh="elastomer_HB1_4F"/>
235
+ <geom name="left_middle_fingertip_collision" class="elastomer_collision" size="0.007277354942 0.005921911705"
236
+ pos="0.01372081668 -0.002441851642 -5.028825694e-06" quat="0.7072976595 -0.05211060406 0.7049925573 0" type="capsule"/>
237
+ <site name="left_middle_fingertip" pos="0.0260093 0 0" quat="0.5 0.5 0.5 0.5"/>
238
+ </body>
239
+ </body>
240
+ </body>
241
+ </body>
242
+ <body name="left_ring_MCP_VL" pos="0.0015 0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5">
243
+ <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221"
244
+ diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
245
+ <joint name="left_ring_MCP_FE" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
246
+ <geom class="visual" mesh="left_MCP_VL_visual"/>
247
+ <geom name="left_ring_MCP_VL_fit" size="0.01039127192 0.005122598235" pos="-0.0002407839146 0.0003359085443 -4.176252422e-07" quat="0.9999999142 -0.000309262668 -0.000275780408 0" type="cylinder"
248
+ group="3" rgba="0.2 0.6 0.2 0.35"/>
249
+ <body name="left_ring_PP" quat="0.707105 0.707108 0 0">
250
+ <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741"
251
+ diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
252
+ <joint name="left_ring_MCP_AA" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
253
+ <geom class="visual" mesh="left_PP_visual"/>
254
+ <geom name="left_ring_PP_fit" size="0.0100359316 0.01346379443" pos="0.03187874127 -3.736979823e-05 0.0006854236702"
255
+ quat="0.7177903798 0.002852662167 0.6962534258 -0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
256
+ <body name="left_ring_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
257
+ <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824"
258
+ diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
259
+ <joint name="left_ring_PIP" class="PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
260
+ <geom class="visual" mesh="left_MP_visual"/>
261
+ <geom name="left_ring_MP_fit" size="0.008711498365 0.009940402565" pos="0.01822339536 -0.002049516943 -1.884924302e-06"
262
+ quat="0.7071189816 -0.06471209251 0.7041271838 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
263
+ <body name="left_ring_DP" pos="0.0315 0 0">
264
+ <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325"
265
+ mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07"/>
266
+ <joint name="left_ring_DIP" class="DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
267
+ <geom class="visual" mesh="DP_visual_HB1_4F"/>
268
+ <geom class="visual" quat="0.499998 0.5 -0.5 0.500002" material="green" mesh="elastomer_HB1_4F"/>
269
+ <geom name="left_ring_fingertip_collision" class="elastomer_collision" size="0.007277367591 0.005921908787"
270
+ pos="0.01372083091 -0.002441833088 -5.001797853e-06" quat="0.7072992383 -0.05211155227 0.7049909032 0" type="capsule"/>
271
+ <site name="left_ring_fingertip" pos="0.0260093 1.04037e-07 1.04037e-07"
272
+ quat="0.5 0.499998 0.5 0.500002"/>
273
+ </body>
274
+ </body>
275
+ </body>
276
+ </body>
277
+ <body name="left_pinky_MC" pos="0.01136 0.0263 0.0869" quat="1.34924e-11 3.67321e-06 -1 -3.67321e-06">
278
+ <joint name="left_pinky_CMC" class="PCMC_joint" pos="0 0 0" axis="0 0 1" range="0 0.2618"/>
279
+ <geom class="visual" mass="0.12541" mesh="left_pinky_MC_visual"/>
280
+ <geom class="collision" mesh="left_pinky_MC"/>
281
+ <body name="left_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 -0.5 0.5 0.500002">
282
+ <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221"
283
+ diaginertia="2.23e-07 1.77435e-07 1.09965e-07"/>
284
+ <joint name="left_pinky_MCP_FE" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708"/>
285
+ <geom class="visual" mesh="left_MCP_VL_visual"/>
286
+ <geom name="left_pinky_MCP_VL_fit" size="0.01039127192 0.005122598235" pos="-0.0002407839146 0.0003359085443 -4.176252422e-07" quat="0.9999999142 -0.000309262668 -0.000275780408 0" type="cylinder"
287
+ group="3" rgba="0.2 0.6 0.2 0.35"/>
288
+ <body name="left_pinky_PP" quat="0.707105 0.707108 0 0">
289
+ <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741"
290
+ diaginertia="1.14061e-05 1.10467e-05 2.15425e-06"/>
291
+ <joint name="left_pinky_MCP_AA" class="MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491"/>
292
+ <geom class="visual" mesh="left_PP_visual"/>
293
+ <geom name="left_pinky_PP_fit" size="0.0100359316 0.01346379443" pos="0.03187874127 -3.736979825e-05 0.0006854236701"
294
+ quat="0.7177903798 0.002852662166 0.6962534258 -0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
295
+ <body name="left_pinky_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0">
296
+ <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824"
297
+ diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
298
+ <joint name="left_pinky_PIP" class="PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453"/>
299
+ <geom class="visual" mesh="left_MP_visual"/>
300
+ <geom name="left_pinky_MP_fit" size="0.008711498365 0.009940402565" pos="0.01822339536 -0.002049516943 -1.884924331e-06"
301
+ quat="0.7071189816 -0.06471209251 0.7041271838 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
302
+ <body name="left_pinky_DP" pos="0.0315 0 0">
303
+ <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325"
304
+ mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07"/>
305
+ <joint name="left_pinky_DIP" class="DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963"/>
306
+ <geom class="visual" mesh="DP_visual_HB1_4F"/>
307
+ <geom class="visual" quat="0.5 0.5 -0.5 0.5" material="green" mesh="elastomer_HB1_4F"/>
308
+ <geom name="left_pinky_fingertip_collision" class="elastomer_collision" size="0.007277354942 0.005921911705"
309
+ pos="0.01372081668 -0.002441851642 -5.028825694e-06" quat="0.7072976595 -0.05211060406 0.7049925573 0"
310
+ type="capsule"/>
311
+ <site name="left_pinky_fingertip" pos="0.0260093 0 0" quat="0.5 0.5 0.5 0.5"/>
312
+ </body>
313
+ </body>
314
+ </body>
315
+ </body>
316
+ </body>
317
+ </body>
318
+ </worldbody>
319
+
320
+ <contact>
321
+ <exclude body1="left_hand_C_MC" body2="left_thumb_CMC_VL"/>
322
+ <exclude body1="left_hand_C_MC" body2="left_thumb_MC"/>
323
+ <exclude body1="left_hand_C_MC" body2="left_index_MCP_VL"/>
324
+ <exclude body1="left_hand_C_MC" body2="left_middle_MCP_VL"/>
325
+ <exclude body1="left_hand_C_MC" body2="left_ring_MCP_VL"/>
326
+ <exclude body1="left_hand_C_MC" body2="left_pinky_MC"/>
327
+ <exclude body1="left_hand_C_MC" body2="left_pinky_MCP_VL"/>
328
+ <exclude body1="left_thumb_CMC_VL" body2="left_thumb_MC"/>
329
+ <exclude body1="left_thumb_MC" body2="left_thumb_PP"/>
330
+ <exclude body1="left_thumb_PP" body2="left_thumb_DP"/>
331
+ <exclude body1="left_index_MCP_VL" body2="left_index_PP"/>
332
+ <exclude body1="left_index_MCP_VL" body2="left_middle_MCP_VL"/>
333
+ <exclude body1="left_index_PP" body2="left_index_MP"/>
334
+ <exclude body1="left_index_MP" body2="left_index_DP"/>
335
+ <exclude body1="left_middle_MCP_VL" body2="left_middle_PP"/>
336
+ <exclude body1="left_middle_MCP_VL" body2="left_ring_MCP_VL"/>
337
+ <exclude body1="left_middle_PP" body2="left_middle_MP"/>
338
+ <exclude body1="left_middle_MP" body2="left_middle_DP"/>
339
+ <exclude body1="left_ring_MCP_VL" body2="left_ring_PP"/>
340
+ <exclude body1="left_ring_MCP_VL" body2="left_pinky_MCP_VL"/>
341
+ <exclude body1="left_ring_PP" body2="left_ring_MP"/>
342
+ <exclude body1="left_ring_MP" body2="left_ring_DP"/>
343
+ <exclude body1="left_pinky_MC" body2="left_pinky_MCP_VL"/>
344
+ <exclude body1="left_pinky_MCP_VL" body2="left_pinky_PP"/>
345
+ <exclude body1="left_pinky_PP" body2="left_pinky_MP"/>
346
+ <exclude body1="left_pinky_MP" body2="left_pinky_DP"/>
347
+ </contact>
348
+
349
+ <actuator>
350
+ <position class="sharpa" name="left_thumb_CMC_FE" joint="left_thumb_CMC_FE" kp="6.95" dampratio="0.9"/>
351
+ <position class="sharpa" name="left_thumb_CMC_AA" joint="left_thumb_CMC_AA" kp="13.2" dampratio="0.9"/>
352
+ <position class="sharpa" name="left_thumb_MCP_FE" joint="left_thumb_MCP_FE" kp="4.76" dampratio="0.9"/>
353
+ <position class="sharpa" name="left_thumb_MCP_AA" joint="left_thumb_MCP_AA" kp="6.62" dampratio="0.9"/>
354
+ <position class="sharpa" name="left_thumb_IP" joint="left_thumb_IP" kp="0.9" dampratio="0.9"/>
355
+ <position class="sharpa" name="left_index_MCP_FE" joint="left_index_MCP_FE" kp="4.76" dampratio="0.9"/>
356
+ <position class="sharpa" name="left_index_MCP_AA" joint="left_index_MCP_AA" kp="6.62" dampratio="0.9"/>
357
+ <position class="sharpa" name="left_index_PIP" joint="left_index_PIP" kp="0.9" dampratio="0.9"/>
358
+ <position class="sharpa" name="left_index_DIP" joint="left_index_DIP" kp="0.9" dampratio="0.9"/>
359
+ <position class="sharpa" name="left_middle_MCP_FE" joint="left_middle_MCP_FE" kp="4.76" dampratio="0.9"/>
360
+ <position class="sharpa" name="left_middle_MCP_AA" joint="left_middle_MCP_AA" kp="6.62" dampratio="0.9"/>
361
+ <position class="sharpa" name="left_middle_PIP" joint="left_middle_PIP" kp="0.9" dampratio="0.9"/>
362
+ <position class="sharpa" name="left_middle_DIP" joint="left_middle_DIP" kp="0.9" dampratio="0.9"/>
363
+ <position class="sharpa" name="left_ring_MCP_FE" joint="left_ring_MCP_FE" kp="4.76" dampratio="0.9"/>
364
+ <position class="sharpa" name="left_ring_MCP_AA" joint="left_ring_MCP_AA" kp="6.62" dampratio="0.9"/>
365
+ <position class="sharpa" name="left_ring_PIP" joint="left_ring_PIP" kp="0.9" dampratio="0.9"/>
366
+ <position class="sharpa" name="left_ring_DIP" joint="left_ring_DIP" kp="0.9" dampratio="0.9"/>
367
+ <position class="sharpa" name="left_pinky_CMC" joint="left_pinky_CMC" kp="1.38" dampratio="0.9"/>
368
+ <position class="sharpa" name="left_pinky_MCP_FE" joint="left_pinky_MCP_FE" kp="4.76" dampratio="0.9"/>
369
+ <position class="sharpa" name="left_pinky_MCP_AA" joint="left_pinky_MCP_AA" kp="6.62" dampratio="0.9"/>
370
+ <position class="sharpa" name="left_pinky_PIP" joint="left_pinky_PIP" kp="0.9" dampratio="0.9"/>
371
+ <position class="sharpa" name="left_pinky_DIP" joint="left_pinky_DIP" kp="0.9" dampratio="0.9"/>
372
+ </actuator>
373
+ </mujoco>
robots/robot_mj_description/end_effectors/sharpa_hand/right_hand_fit.xml ADDED
@@ -0,0 +1,393 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="right_sharpa_wave">
2
+ <compiler angle="radian" meshdir="assets/right/"/>
3
+
4
+ <option impratio="10" integrator="implicitfast" cone="elliptic"/>
5
+
6
+ <default>
7
+ <default class="sharpa">
8
+ <site size="0.0025 0.005 0.005" group="5" rgba="1 0 0 1"/>
9
+ <general biastype="affine" biasprm="0 -1"/>
10
+ <default class="visual">
11
+ <geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver"/>
12
+ <default class="elastomer_visual">
13
+ <geom material="green"/>
14
+ </default>
15
+ </default>
16
+ <default class="collision">
17
+ <geom type="mesh" group="3" solref="0.01" rgba="0.2 0.6 0.2 0.25"/>
18
+ <default class="elastomer_collision">
19
+ <geom solref="0.06 0.9"/>
20
+ </default>
21
+ </default>
22
+ <default class="CMC_joint">
23
+ <joint actuatorfrcrange="-3.3 3.3" armature="0.0032" damping="4.2e-05" frictionloss="0.132"/>
24
+ </default>
25
+ <default class="PCMC_joint">
26
+ <joint actuatorfrcrange="-0.5285 0.5285" armature="0.00012" damping="4.2e-05" frictionloss="0.012"/>
27
+ </default>
28
+ <default class="MCP_joint">
29
+ <joint actuatorfrcrange="-1.864 1.864" armature="0.00265" damping="2.38e-05" frictionloss="0.07456"/>
30
+ </default>
31
+ <default class="PIP_joint">
32
+ <joint actuatorfrcrange="-0.638 0.638" armature="0.0006" damping="4.06e-06" frictionloss="0.01276"/>
33
+ </default>
34
+ <default class="DIP_joint">
35
+ <joint actuatorfrcrange="-0.189369 0.189369" armature="0.00042" damping="1.21e-06" frictionloss="0.00378738"/>
36
+ </default>
37
+ </default>
38
+ </default>
39
+
40
+ <asset>
41
+ <material name="silver" rgba="0.79 0.82 0.93 1"/>
42
+ <material name="green" rgba="0.2 1 0.2 1"/>
43
+ <mesh name="right_hand_C_MC_visual" content_type="model/stl" file="right_hand_C_MC_visual.STL"/>
44
+ <mesh name="right_hand_C_MC" content_type="model/stl" file="right_hand_C_MC.STL"/>
45
+ <mesh name="right_thumb_CMC_VL" content_type="model/stl" file="right_thumb_CMC_VL.STL"/>
46
+ <mesh name="right_thumb_MC_visual" content_type="model/stl" file="right_thumb_MC_visual.STL"/>
47
+ <mesh name="right_thumb_MC" content_type="model/stl" file="right_thumb_MC.STL"/>
48
+ <mesh name="right_thumb_MCP_VL_visual" content_type="model/stl" file="right_thumb_MCP_VL_visual.STL"/>
49
+ <mesh name="right_thumb_PP_visual" content_type="model/stl" file="right_thumb_PP_visual.STL"/>
50
+ <mesh name="right_thumb_PP" content_type="model/stl" file="right_thumb_PP.STL"/>
51
+ <mesh name="DP_Visual_HB1_TH" content_type="model/stl" file="DP_Visual_HB1_TH.STL"/>
52
+ <mesh name="DP_HB1_TH" content_type="model/stl" file="DP_HB1_TH.STL"/>
53
+ <mesh name="elastomer_HB1_TH" content_type="model/stl" file="elastomer_HB1_TH.STL"/>
54
+ <mesh name="right_MCP_VL_visual" content_type="model/stl" file="right_MCP_VL_visual.STL"/>
55
+ <mesh name="MCP_VL" content_type="model/stl" file="MCP_VL.STL"/>
56
+ <mesh name="right_PP_visual" content_type="model/stl" file="right_PP_visual.STL"/>
57
+ <mesh name="right_PP" content_type="model/stl" file="right_PP.STL"/>
58
+ <mesh name="right_MP_visual" content_type="model/stl" file="right_MP_visual.STL"/>
59
+ <mesh name="right_MP" content_type="model/stl" file="right_MP.STL"/>
60
+ <mesh name="DP_visual_HB1_4F" content_type="model/stl" file="DP_visual_HB1_4F.STL"/>
61
+ <mesh name="DP_HB1_4F" content_type="model/stl" file="DP_HB1_4F.STL"/>
62
+ <mesh name="elastomer_HB1_4F" content_type="model/stl" file="elastomer_HB1_4F.STL"/>
63
+ <mesh name="right_pinky_MC_visual" content_type="model/stl" file="right_pinky_MC_visual.STL"/>
64
+ <mesh name="right_pinky_MC" content_type="model/stl" file="right_pinky_MC.STL"/>
65
+ <mesh name="palm000" content_type="model/obj" file="palm/palm000.obj"/>
66
+ <mesh name="palm001" content_type="model/obj" file="palm/palm001.obj"/>
67
+ <mesh name="palm002" content_type="model/obj" file="palm/palm002.obj"/>
68
+ <mesh name="palm003" content_type="model/obj" file="palm/palm003.obj"/>
69
+ <mesh name="palm004" content_type="model/obj" file="palm/palm004.obj"/>
70
+ <mesh name="palm005" content_type="model/obj" file="palm/palm005.obj"/>
71
+ <mesh name="palm006" content_type="model/obj" file="palm/palm006.obj"/>
72
+ <mesh name="palm007" content_type="model/obj" file="palm/palm007.obj"/>
73
+ <mesh name="palm008" content_type="model/obj" file="palm/palm008.obj"/>
74
+ <mesh name="palm009" content_type="model/obj" file="palm/palm009.obj"/>
75
+ <mesh name="palm010" content_type="model/obj" file="palm/palm010.obj"/>
76
+ <mesh name="palm011" content_type="model/obj" file="palm/palm011.obj"/>
77
+ <mesh name="palm012" content_type="model/obj" file="palm/palm012.obj"/>
78
+ <mesh name="palm013" content_type="model/obj" file="palm/palm013.obj"/>
79
+ <mesh name="palm014" content_type="model/obj" file="palm/palm014.obj"/>
80
+ <mesh name="palm015" content_type="model/obj" file="palm/palm015.obj"/>
81
+ <mesh name="palm016" content_type="model/obj" file="palm/palm016.obj"/>
82
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+ diaginertia="2.00683e-06 1.9229e-06 5.68878e-07"/>
297
+ <joint name="right_pinky_PIP" class="PIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7453"/>
298
+ <geom class="visual" mesh="right_MP_visual"/>
299
+ <geom name="right_pinky_MP_fit" size="0.00871040143 0.009942632028" pos="0.01822321386 0.00205088273 2.369824406e-06"
300
+ quat="0.7070803871 0.06486121524 0.70415222 -0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35"/>
301
+ <body name="right_pinky_DP" pos="0.0315 0 0">
302
+ <inertial pos="0.0124856 0.00257344 -0.000107634" quat="0.0491898 0.71664 0.0584115 0.69325"
303
+ mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07"/>
304
+ <joint name="right_pinky_DIP" class="DIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.3963"/>
305
+ <geom class="visual" mesh="DP_visual_HB1_4F"/>
306
+ <geom class="visual" quat="-0.5 0.5 0.5 0.5" material="green" mesh="elastomer_HB1_4F"/>
307
+ <geom name="right_pinky_fingertip_collision" class="elastomer_collision" size="0.007278163998 0.005920679998"
308
+ pos="0.01371909494 0.002442306762 -1.632713773e-06" quat="0.7070556368 0.05270671166 0.7051909877 -0" type="capsule"/>
309
+ <site name="right_pinky_fingertip" pos="0.0260093 0 0" quat="-0.5 0.5 -0.5 0.5"/>
310
+ </body>
311
+ </body>
312
+ </body>
313
+ </body>
314
+ </body>
315
+ </body>
316
+ </worldbody>
317
+
318
+ <contact>
319
+ <exclude body1="right_hand_C_MC" body2="right_thumb_CMC_VL"/>
320
+ <exclude body1="right_hand_C_MC" body2="right_thumb_MC"/>
321
+ <exclude body1="right_hand_C_MC" body2="right_index_MCP_VL"/>
322
+ <exclude body1="right_hand_C_MC" body2="right_middle_MCP_VL"/>
323
+ <exclude body1="right_hand_C_MC" body2="right_ring_MCP_VL"/>
324
+ <exclude body1="right_hand_C_MC" body2="right_pinky_MC"/>
325
+ <exclude body1="right_hand_C_MC" body2="right_pinky_MCP_VL"/>
326
+ <exclude body1="right_thumb_CMC_VL" body2="right_thumb_MC"/>
327
+ <exclude body1="right_thumb_MC" body2="right_thumb_PP"/>
328
+ <exclude body1="right_thumb_PP" body2="right_thumb_DP"/>
329
+ <exclude body1="right_index_MCP_VL" body2="right_index_PP"/>
330
+ <exclude body1="right_index_MCP_VL" body2="right_middle_MCP_VL"/>
331
+ <exclude body1="right_index_PP" body2="right_index_MP"/>
332
+ <exclude body1="right_index_MP" body2="right_index_DP"/>
333
+ <exclude body1="right_middle_MCP_VL" body2="right_middle_PP"/>
334
+ <exclude body1="right_middle_MCP_VL" body2="right_ring_MCP_VL"/>
335
+ <exclude body1="right_middle_PP" body2="right_middle_MP"/>
336
+ <exclude body1="right_middle_MP" body2="right_middle_DP"/>
337
+ <exclude body1="right_ring_MCP_VL" body2="right_ring_PP"/>
338
+ <exclude body1="right_ring_MCP_VL" body2="right_pinky_MCP_VL"/>
339
+ <exclude body1="right_ring_PP" body2="right_ring_MP"/>
340
+ <exclude body1="right_ring_MP" body2="right_ring_DP"/>
341
+ <exclude body1="right_pinky_MC" body2="right_pinky_MCP_VL"/>
342
+ <exclude body1="right_pinky_MCP_VL" body2="right_pinky_PP"/>
343
+ <exclude body1="right_pinky_PP" body2="right_pinky_MP"/>
344
+ <exclude body1="right_pinky_MP" body2="right_pinky_DP"/>
345
+ </contact>
346
+
347
+ <actuator>
348
+ <general name="right_thumb_CMC_FE" class="sharpa" joint="right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199"
349
+ gainprm="6.95" biasprm="0 -6.95 0.9"/>
350
+ <general name="right_thumb_CMC_AA" class="sharpa" joint="right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491"
351
+ gainprm="13.2" biasprm="0 -13.2 0.9"/>
352
+ <general name="right_thumb_MCP_FE" class="sharpa" joint="right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963"
353
+ gainprm="4.76" biasprm="0 -4.76 0.9"/>
354
+ <general name="right_thumb_MCP_AA" class="sharpa" joint="right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491"
355
+ gainprm="6.62" biasprm="0 -6.62 0.9"/>
356
+ <general name="right_thumb_IP" class="sharpa" joint="right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9"
357
+ biasprm="0 -0.9 0.9"/>
358
+ <general name="right_index_MCP_FE" class="sharpa" joint="right_index_MCP_FE" ctrlrange="-0.174533 1.5708"
359
+ gainprm="4.76" biasprm="0 -4.76 0.9"/>
360
+ <general name="right_index_MCP_AA" class="sharpa" joint="right_index_MCP_AA" ctrlrange="-0.3491 0.3491"
361
+ gainprm="6.62" biasprm="0 -6.62 0.9"/>
362
+ <general name="right_index_PIP" class="sharpa" joint="right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9"
363
+ biasprm="0 -0.9 0.9"/>
364
+ <general name="right_index_DIP" class="sharpa" joint="right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9"
365
+ biasprm="0 -0.9 0.9"/>
366
+ <general name="right_middle_MCP_FE" class="sharpa" joint="right_middle_MCP_FE" ctrlrange="-0.174533 1.5708"
367
+ gainprm="4.76" biasprm="0 -4.76 0.9"/>
368
+ <general name="right_middle_MCP_AA" class="sharpa" joint="right_middle_MCP_AA" ctrlrange="-0.3491 0.3491"
369
+ gainprm="6.62" biasprm="0 -6.62 0.9"/>
370
+ <general name="right_middle_PIP" class="sharpa" joint="right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9"
371
+ biasprm="0 -0.9 0.9"/>
372
+ <general name="right_middle_DIP" class="sharpa" joint="right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9"
373
+ biasprm="0 -0.9 0.9"/>
374
+ <general name="right_ring_MCP_FE" class="sharpa" joint="right_ring_MCP_FE" ctrlrange="-0.174533 1.5708"
375
+ gainprm="4.76" biasprm="0 -4.76 0.9"/>
376
+ <general name="right_ring_MCP_AA" class="sharpa" joint="right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62"
377
+ biasprm="0 -6.62 0.9"/>
378
+ <general name="right_ring_PIP" class="sharpa" joint="right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9"
379
+ biasprm="0 -0.9 0.9"/>
380
+ <general name="right_ring_DIP" class="sharpa" joint="right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9"
381
+ biasprm="0 -0.9 0.9"/>
382
+ <general name="right_pinky_CMC" class="sharpa" joint="right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38"
383
+ biasprm="0 -1.38 0.9"/>
384
+ <general name="right_pinky_MCP_FE" class="sharpa" joint="right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708"
385
+ gainprm="4.76" biasprm="0 -4.76 0.9"/>
386
+ <general name="right_pinky_MCP_AA" class="sharpa" joint="right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491"
387
+ gainprm="6.62" biasprm="0 -6.62 0.9"/>
388
+ <general name="right_pinky_PIP" class="sharpa" joint="right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9"
389
+ biasprm="0 -0.9 0.9"/>
390
+ <general name="right_pinky_DIP" class="sharpa" joint="right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9"
391
+ biasprm="0 -0.9 0.9"/>
392
+ </actuator>
393
+ </mujoco>