| <mujoco model="g1_29dof_rev_1_0"> |
| <compiler angle="radian" meshdir="meshes" /> |
| <option impratio="10" integrator="implicitfast" cone="elliptic" /> |
| <default> |
| <default class="g1"> |
| <site group="5" rgba="1 0 0 1" /> |
| <default class="visual"> |
| <geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver" /> |
| </default> |
| <default class="collision"> |
| <geom type="capsule" group="3" rgba="0.2 0.6 0.2 0.3" /> |
| <default class="foot_capsule"> |
| <geom size="0.01 0 0" /> |
| </default> |
| </default> |
| </default> |
| <default class="lh/main"> |
| <default class="lh/sharpa"> |
| <site size="0.0025 0.005 0.005" group="5" rgba="1 0 0 1" /> |
| <general biastype="affine" biasprm="0 -1" /> |
| <default class="lh/visual"> |
| <geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver" /> |
| <default class="lh/elastomer_visual"> |
| <geom material="green" /> |
| </default> |
| </default> |
| <default class="lh/collision"> |
| <geom type="mesh" group="3" solref="0.01" density="0" rgba="0.2 0.6 0.2 0.25" /> |
| <default class="lh/elastomer_collision"> |
| <geom solref="0.06 0.9" /> |
| </default> |
| </default> |
| <default class="lh/CMC_joint"> |
| <joint actuatorfrcrange="-3.3 3.3" armature="0.00451" damping="4.2e-05" frictionloss="0.132" /> |
| </default> |
| <default class="lh/PCMC_joint"> |
| <joint actuatorfrcrange="-0.5285 0.5285" armature="0.000136" damping="4.2e-05" frictionloss="0.012" /> |
| </default> |
| <default class="lh/MCP_joint"> |
| <joint actuatorfrcrange="-1.864 1.864" armature="0.00129" damping="2.38e-05" frictionloss="0.07456" /> |
| </default> |
| <default class="lh/PIP_joint"> |
| <joint actuatorfrcrange="-0.638 0.638" armature="0.000415" damping="4.06e-06" frictionloss="0.01276" /> |
| </default> |
| <default class="lh/DIP_joint"> |
| <joint actuatorfrcrange="-0.189369 0.189369" armature="2.42e-05" damping="1.21e-06" frictionloss="0.00378738" /> |
| </default> |
| </default> |
| </default> |
| <default class="rh/main"> |
| <default class="rh/sharpa"> |
| <site size="0.0025 0.005 0.005" group="5" rgba="1 0 0 1" /> |
| <general biastype="affine" biasprm="0 -1" /> |
| <default class="rh/visual"> |
| <geom type="mesh" contype="0" conaffinity="0" group="2" density="0" material="silver" /> |
| <default class="rh/elastomer_visual"> |
| <geom material="green" /> |
| </default> |
| </default> |
| <default class="rh/collision"> |
| <geom type="mesh" group="3" solref="0.01" density="0" rgba="0.2 0.6 0.2 0.25" /> |
| <default class="rh/elastomer_collision"> |
| <geom solref="0.06 0.9" /> |
| </default> |
| </default> |
| <default class="rh/CMC_joint"> |
| <joint actuatorfrcrange="-3.3 3.3" armature="0.00451" damping="4.2e-05" frictionloss="0.132" /> |
| </default> |
| <default class="rh/PCMC_joint"> |
| <joint actuatorfrcrange="-0.5285 0.5285" armature="0.000136" damping="4.2e-05" frictionloss="0.012" /> |
| </default> |
| <default class="rh/MCP_joint"> |
| <joint actuatorfrcrange="-1.864 1.864" armature="0.00129" damping="2.38e-05" frictionloss="0.07456" /> |
| </default> |
| <default class="rh/PIP_joint"> |
| <joint actuatorfrcrange="-0.638 0.638" armature="0.000415" damping="4.06e-06" frictionloss="0.01276" /> |
| </default> |
| <default class="rh/DIP_joint"> |
| <joint actuatorfrcrange="-0.189369 0.189369" armature="2.42e-05" damping="1.21e-06" frictionloss="0.00378738" /> |
| </default> |
| </default> |
| </default> |
| </default> |
| <asset> |
| <material name="silver" rgba="0.7 0.7 0.7 1" /> |
| <material name="black" rgba="0.2 0.2 0.2 1" /> |
| <material name="lh/silver" rgba="0.79 0.82 0.93 1" /> |
| <material name="lh/green" rgba="0.2 1 0.2 1" /> |
| <material name="rh/silver" rgba="0.79 0.82 0.93 1" /> |
| <material name="rh/green" rgba="0.2 1 0.2 1" /> |
| <mesh name="pelvis" file="g1/pelvis.STL" /> |
| <mesh name="pelvis_contour_link" file="g1/pelvis_contour_link.STL" /> |
| <mesh name="left_hip_pitch_link" file="g1/left_hip_pitch_link.STL" /> |
| <mesh name="left_hip_roll_link" file="g1/left_hip_roll_link.STL" /> |
| <mesh name="left_hip_yaw_link" file="g1/left_hip_yaw_link.STL" /> |
| <mesh name="left_knee_link" file="g1/left_knee_link.STL" /> |
| <mesh name="left_ankle_pitch_link" file="g1/left_ankle_pitch_link.STL" /> |
| <mesh name="left_ankle_roll_link" file="g1/left_ankle_roll_link.STL" /> |
| <mesh name="right_hip_pitch_link" file="g1/right_hip_pitch_link.STL" /> |
| <mesh name="right_hip_roll_link" file="g1/right_hip_roll_link.STL" /> |
| <mesh name="right_hip_yaw_link" file="g1/right_hip_yaw_link.STL" /> |
| <mesh name="right_knee_link" file="g1/right_knee_link.STL" /> |
| <mesh name="right_ankle_pitch_link" file="g1/right_ankle_pitch_link.STL" /> |
| <mesh name="right_ankle_roll_link" file="g1/right_ankle_roll_link.STL" /> |
| <mesh name="waist_yaw_link" file="g1/waist_yaw_link_rev_1_0.STL" /> |
| <mesh name="waist_roll_link" file="g1/waist_roll_link_rev_1_0.STL" /> |
| <mesh name="torso_link" file="g1/torso_link_rev_1_0.STL" /> |
| <mesh name="logo_link" file="g1/logo_link.STL" /> |
| <mesh name="head_link" file="g1/head_link.STL" /> |
| <mesh name="left_shoulder_pitch_link" file="g1/left_shoulder_pitch_link.STL" /> |
| <mesh name="left_shoulder_roll_link" file="g1/left_shoulder_roll_link.STL" /> |
| <mesh name="left_shoulder_yaw_link" file="g1/left_shoulder_yaw_link.STL" /> |
| <mesh name="left_elbow_link" file="g1/left_elbow_link.STL" /> |
| <mesh name="left_wrist_roll_link" file="g1/left_wrist_roll_link_5010.STL" /> |
| <mesh name="left_wrist_pitch_link" file="g1/left_wrist_pitch_link_5010.STL" /> |
| <mesh name="left_wrist_yaw_link" file="g1/left_wrist_yaw_link_5010.STL" /> |
| <mesh name="left_rubber_hand" file="g1/left_rubber_hand.STL" /> |
| <mesh name="right_shoulder_pitch_link" file="g1/right_shoulder_pitch_link.STL" /> |
| <mesh name="right_shoulder_roll_link" file="g1/right_shoulder_roll_link.STL" /> |
| <mesh name="right_shoulder_yaw_link" file="g1/right_shoulder_yaw_link.STL" /> |
| <mesh name="right_elbow_link" file="g1/right_elbow_link.STL" /> |
| <mesh name="right_wrist_roll_link" file="g1/right_wrist_roll_link_5010.STL" /> |
| <mesh name="right_wrist_pitch_link" file="g1/right_wrist_pitch_link_5010.STL" /> |
| <mesh name="right_wrist_yaw_link" file="g1/right_wrist_yaw_link_5010.STL" /> |
| <mesh name="right_rubber_hand" file="g1/right_rubber_hand.STL" /> |
| <mesh name="lh/left_hand_C_MC_visual" file="sharpa/left/left_hand_C_MC_visual.STL" /> |
| <mesh name="lh/left_hand_C_MC" file="sharpa/left/left_hand_C_MC.STL" /> |
| <mesh name="lh/left_thumb_CMC_VL" file="sharpa/left/left_thumb_CMC_VL.STL" /> |
| <mesh name="lh/left_thumb_MC_visual" file="sharpa/left/left_thumb_MC_visual.STL" /> |
| <mesh name="lh/left_thumb_MC" file="sharpa/left/left_thumb_MC.STL" /> |
| <mesh name="lh/left_thumb_MCP_VL_visual" file="sharpa/left/left_thumb_MCP_VL_visual.STL" /> |
| <mesh name="lh/left_thumb_PP_visual" file="sharpa/left/left_thumb_PP_visual.STL" /> |
| <mesh name="lh/left_thumb_PP" file="sharpa/left/left_thumb_PP.STL" /> |
| <mesh name="lh/DP_Visual_HB1_TH" file="sharpa/left/DP_Visual_HB1_TH.STL" /> |
| <mesh name="lh/DP_HB1_TH" file="sharpa/left/DP_HB1_TH.STL" /> |
| <mesh name="lh/elastomer_HB1_TH" file="sharpa/left/elastomer_HB1_TH.STL" /> |
| <mesh name="lh/left_MCP_VL_visual" file="sharpa/left/left_MCP_VL_visual.STL" /> |
| <mesh name="lh/MCP_VL" file="sharpa/left/MCP_VL.STL" /> |
| <mesh name="lh/left_PP_visual" file="sharpa/left/left_PP_visual.STL" /> |
| <mesh name="lh/left_PP" file="sharpa/left/left_PP.STL" /> |
| <mesh name="lh/left_MP_visual" file="sharpa/left/left_MP_visual.STL" /> |
| <mesh name="lh/left_MP" file="sharpa/left/left_MP.STL" /> |
| <mesh name="lh/DP_visual_HB1_4F" file="sharpa/left/DP_visual_HB1_4F.STL" /> |
| <mesh name="lh/DP_HB1_4F" file="sharpa/left/DP_HB1_4F.STL" /> |
| <mesh name="lh/elastomer_HB1_4F" file="sharpa/left/elastomer_HB1_4F.STL" /> |
| <mesh name="lh/left_pinky_MC_visual" file="sharpa/left/left_pinky_MC_visual.STL" /> |
| <mesh name="lh/left_pinky_MC" file="sharpa/left/left_pinky_MC.STL" /> |
| <mesh name="lh/palm000" file="sharpa/left/palm/palm000.obj" /> |
| <mesh name="lh/palm001" file="sharpa/left/palm/palm001.obj" /> |
| <mesh name="lh/palm002" file="sharpa/left/palm/palm002.obj" /> |
| <mesh name="lh/palm003" file="sharpa/left/palm/palm003.obj" /> |
| <mesh name="lh/palm004" file="sharpa/left/palm/palm004.obj" /> |
| <mesh name="lh/palm005" file="sharpa/left/palm/palm005.obj" /> |
| <mesh name="lh/palm006" file="sharpa/left/palm/palm006.obj" /> |
| <mesh name="lh/palm007" file="sharpa/left/palm/palm007.obj" /> |
| <mesh name="lh/palm008" file="sharpa/left/palm/palm008.obj" /> |
| <mesh name="lh/palm009" file="sharpa/left/palm/palm009.obj" /> |
| <mesh name="lh/palm010" file="sharpa/left/palm/palm010.obj" /> |
| <mesh name="lh/palm011" file="sharpa/left/palm/palm011.obj" /> |
| <mesh name="lh/palm012" file="sharpa/left/palm/palm012.obj" /> |
| <mesh name="lh/palm013" file="sharpa/left/palm/palm013.obj" /> |
| <mesh name="lh/palm014" file="sharpa/left/palm/palm014.obj" /> |
| <mesh name="lh/palm015" file="sharpa/left/palm/palm015.obj" /> |
| <mesh name="lh/palm016" file="sharpa/left/palm/palm016.obj" /> |
| <mesh name="lh/palm017" file="sharpa/left/palm/palm017.obj" /> |
| <mesh name="lh/palm018" file="sharpa/left/palm/palm018.obj" /> |
| <mesh name="lh/palm019" file="sharpa/left/palm/palm019.obj" /> |
| <mesh name="lh/palm020" file="sharpa/left/palm/palm020.obj" /> |
| <mesh name="lh/palm021" file="sharpa/left/palm/palm021.obj" /> |
| <mesh name="lh/palm022" file="sharpa/left/palm/palm022.obj" /> |
| <mesh name="lh/palm023" file="sharpa/left/palm/palm023.obj" /> |
| <mesh name="lh/palm024" file="sharpa/left/palm/palm024.obj" /> |
| <mesh name="lh/palm025" file="sharpa/left/palm/palm025.obj" /> |
| <mesh name="lh/palm026" file="sharpa/left/palm/palm026.obj" /> |
| <mesh name="lh/palm027" file="sharpa/left/palm/palm027.obj" /> |
| <mesh name="lh/palm028" file="sharpa/left/palm/palm028.obj" /> |
| <mesh name="lh/palm029" file="sharpa/left/palm/palm029.obj" /> |
| <mesh name="lh/palm030" file="sharpa/left/palm/palm030.obj" /> |
| <mesh name="lh/palm031" file="sharpa/left/palm/palm031.obj" /> |
| <mesh name="rh/right_hand_C_MC_visual" content_type="model/stl" file="sharpa/right/right_hand_C_MC_visual.STL" /> |
| <mesh name="rh/right_hand_C_MC" content_type="model/stl" file="sharpa/right/right_hand_C_MC.STL" /> |
| <mesh name="rh/right_thumb_CMC_VL" content_type="model/stl" file="sharpa/right/right_thumb_CMC_VL.STL" /> |
| <mesh name="rh/right_thumb_MC_visual" content_type="model/stl" file="sharpa/right/right_thumb_MC_visual.STL" /> |
| <mesh name="rh/right_thumb_MC" content_type="model/stl" file="sharpa/right/right_thumb_MC.STL" /> |
| <mesh name="rh/right_thumb_MCP_VL_visual" content_type="model/stl" file="sharpa/right/right_thumb_MCP_VL_visual.STL" /> |
| <mesh name="rh/right_thumb_PP_visual" content_type="model/stl" file="sharpa/right/right_thumb_PP_visual.STL" /> |
| <mesh name="rh/right_thumb_PP" content_type="model/stl" file="sharpa/right/right_thumb_PP.STL" /> |
| <mesh name="rh/DP_Visual_HB1_TH" content_type="model/stl" file="sharpa/right/DP_Visual_HB1_TH.STL" /> |
| <mesh name="rh/DP_HB1_TH" content_type="model/stl" file="sharpa/right/DP_HB1_TH.STL" /> |
| <mesh name="rh/elastomer_HB1_TH" content_type="model/stl" file="sharpa/right/elastomer_HB1_TH.STL" /> |
| <mesh name="rh/right_MCP_VL_visual" content_type="model/stl" file="sharpa/right/right_MCP_VL_visual.STL" /> |
| <mesh name="rh/MCP_VL" content_type="model/stl" file="sharpa/right/MCP_VL.STL" /> |
| <mesh name="rh/right_PP_visual" content_type="model/stl" file="sharpa/right/right_PP_visual.STL" /> |
| <mesh name="rh/right_PP" content_type="model/stl" file="sharpa/right/right_PP.STL" /> |
| <mesh name="rh/right_MP_visual" content_type="model/stl" file="sharpa/right/right_MP_visual.STL" /> |
| <mesh name="rh/right_MP" content_type="model/stl" file="sharpa/right/right_MP.STL" /> |
| <mesh name="rh/DP_visual_HB1_4F" content_type="model/stl" file="sharpa/right/DP_visual_HB1_4F.STL" /> |
| <mesh name="rh/DP_HB1_4F" content_type="model/stl" file="sharpa/right/DP_HB1_4F.STL" /> |
| <mesh name="rh/elastomer_HB1_4F" content_type="model/stl" file="sharpa/right/elastomer_HB1_4F.STL" /> |
| <mesh name="rh/right_pinky_MC_visual" content_type="model/stl" file="sharpa/right/right_pinky_MC_visual.STL" /> |
| <mesh name="rh/right_pinky_MC" content_type="model/stl" file="sharpa/right/right_pinky_MC.STL" /> |
| <mesh name="rh/palm000" content_type="model/obj" file="sharpa/right/palm/palm000.obj" /> |
| <mesh name="rh/palm001" content_type="model/obj" file="sharpa/right/palm/palm001.obj" /> |
| <mesh name="rh/palm002" content_type="model/obj" file="sharpa/right/palm/palm002.obj" /> |
| <mesh name="rh/palm003" content_type="model/obj" file="sharpa/right/palm/palm003.obj" /> |
| <mesh name="rh/palm004" content_type="model/obj" file="sharpa/right/palm/palm004.obj" /> |
| <mesh name="rh/palm005" content_type="model/obj" file="sharpa/right/palm/palm005.obj" /> |
| <mesh name="rh/palm006" content_type="model/obj" file="sharpa/right/palm/palm006.obj" /> |
| <mesh name="rh/palm007" content_type="model/obj" file="sharpa/right/palm/palm007.obj" /> |
| <mesh name="rh/palm008" content_type="model/obj" file="sharpa/right/palm/palm008.obj" /> |
| <mesh name="rh/palm009" content_type="model/obj" file="sharpa/right/palm/palm009.obj" /> |
| <mesh name="rh/palm010" content_type="model/obj" file="sharpa/right/palm/palm010.obj" /> |
| <mesh name="rh/palm011" content_type="model/obj" file="sharpa/right/palm/palm011.obj" /> |
| <mesh name="rh/palm012" content_type="model/obj" file="sharpa/right/palm/palm012.obj" /> |
| <mesh name="rh/palm013" content_type="model/obj" file="sharpa/right/palm/palm013.obj" /> |
| <mesh name="rh/palm014" content_type="model/obj" file="sharpa/right/palm/palm014.obj" /> |
| <mesh name="rh/palm015" content_type="model/obj" file="sharpa/right/palm/palm015.obj" /> |
| <mesh name="rh/palm016" content_type="model/obj" file="sharpa/right/palm/palm016.obj" /> |
| <mesh name="rh/palm017" content_type="model/obj" file="sharpa/right/palm/palm017.obj" /> |
| <mesh name="rh/palm018" content_type="model/obj" file="sharpa/right/palm/palm018.obj" /> |
| <mesh name="rh/palm019" content_type="model/obj" file="sharpa/right/palm/palm019.obj" /> |
| <mesh name="rh/palm020" content_type="model/obj" file="sharpa/right/palm/palm020.obj" /> |
| <mesh name="rh/palm021" content_type="model/obj" file="sharpa/right/palm/palm021.obj" /> |
| <mesh name="rh/palm022" content_type="model/obj" file="sharpa/right/palm/palm022.obj" /> |
| <mesh name="rh/palm023" content_type="model/obj" file="sharpa/right/palm/palm023.obj" /> |
| <mesh name="rh/palm024" content_type="model/obj" file="sharpa/right/palm/palm024.obj" /> |
| <mesh name="rh/palm025" content_type="model/obj" file="sharpa/right/palm/palm025.obj" /> |
| <mesh name="rh/palm026" content_type="model/obj" file="sharpa/right/palm/palm026.obj" /> |
| <mesh name="rh/palm027" content_type="model/obj" file="sharpa/right/palm/palm027.obj" /> |
| <mesh name="rh/palm028" content_type="model/obj" file="sharpa/right/palm/palm028.obj" /> |
| <mesh name="rh/palm029" content_type="model/obj" file="sharpa/right/palm/palm029.obj" /> |
| <mesh name="rh/palm030" content_type="model/obj" file="sharpa/right/palm/palm030.obj" /> |
| <mesh name="rh/palm031" content_type="model/obj" file="sharpa/right/palm/palm031.obj" /> |
| </asset> |
| <worldbody> |
| <body name="pelvis" childclass="g1" pos="0 0 0.793"> |
| <inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184" /> |
| <joint name="floating_base_joint" type="free" /> |
| <geom class="visual" material="black" mesh="pelvis" /> |
| <geom class="visual" mesh="pelvis_contour_link" /> |
| <geom name="pelvis_collision" class="collision" size="0.07" pos="0 0 -0.08" type="sphere" /> |
| <site name="imu_in_pelvis" pos="0.04525 0 -0.08339" size="0.01" /> |
| <camera name="tracking" pos="1.734 -1.135 0.35" quat="0.683353 0.555871 0.298684 0.367183" mode="trackcom" /> |
| <light pos="0 0 2" dir="0 0 -1" mode="trackcom" /> |
| <body name="left_hip_pitch_link" pos="0 0.064452 -0.1027"> |
| <inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" /> |
| <joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" /> |
| <geom class="visual" material="black" mesh="left_hip_pitch_link" /> |
| <body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0"> |
| <inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" /> |
| <joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" /> |
| <geom class="visual" mesh="left_hip_roll_link" /> |
| <geom name="left_hip_collision" class="collision" size="0.06 0.04" pos="0.02 0 -0.04" /> |
| <body name="left_hip_yaw_link" pos="0.025001 0 -0.12412"> |
| <inertial pos="-0.057709 -0.010981 -0.15078" quat="0.600598 0.15832 0.223482 0.751181" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" /> |
| <joint name="left_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" /> |
| <geom class="visual" mesh="left_hip_yaw_link" /> |
| <geom name="left_thigh_collision" class="collision" size="0.055 0.0761577" pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" /> |
| <body name="left_knee_link" pos="-0.078273 0.0021489 -0.17734" quat="0.996179 0 0.0873386 0"> |
| <inertial pos="0.005457 0.003964 -0.12074" quat="0.923418 -0.0327699 0.0158246 0.382067" mass="1.932" diaginertia="0.0113804 0.0112778 0.00146458" /> |
| <joint name="left_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" /> |
| <geom class="visual" mesh="left_knee_link" /> |
| <geom name="left_shin_collision" class="collision" size="0.045 0.075" pos="0.01 0 -0.075" /> |
| <geom name="left_linkage_brace_collision" class="collision" size="0.03 0.04" pos="0.01 0 -0.24" /> |
| <body name="left_ankle_pitch_link" pos="0 -9.4445e-05 -0.30001"> |
| <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" /> |
| <joint name="left_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" /> |
| <geom class="visual" mesh="left_ankle_pitch_link" /> |
| <body name="left_ankle_roll_link" pos="0 0 -0.017558"> |
| <inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" /> |
| <joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" /> |
| <geom class="visual" material="black" mesh="left_ankle_roll_link" /> |
| <geom name="left_foot1_collision" class="foot_capsule" size="0.01 0.025005" pos="0.075 -0.0265 -0.025" quat="0.707107 -0.0141393 0.706965 0" /> |
| <geom name="left_foot2_collision" class="foot_capsule" size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="left_foot3_collision" class="foot_capsule" size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="left_foot4_collision" class="foot_capsule" size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="left_foot5_collision" class="foot_capsule" size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="left_foot6_collision" class="foot_capsule" size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="left_foot7_collision" class="foot_capsule" size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" /> |
| <site name="left_foot" pos="0.04 0 -0.037" /> |
| <body name="left_toe_link" pos="0.1 0 -0.02" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_hip_pitch_link" pos="0 -0.064452 -0.1027"> |
| <inertial pos="0.002741 -0.047791 -0.02606" quat="0.954862 -0.293964 0.0302556 -0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212" /> |
| <joint name="right_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" /> |
| <geom class="visual" material="black" mesh="right_hip_pitch_link" /> |
| <body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0"> |
| <inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755" /> |
| <joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" /> |
| <geom class="visual" mesh="right_hip_roll_link" /> |
| <geom name="right_hip_collision" class="collision" size="0.06 0.04" pos="0.02 0 -0.04" /> |
| <body name="right_hip_yaw_link" pos="0.025001 0 -0.12412"> |
| <inertial pos="-0.057709 0.010981 -0.15078" quat="0.751181 0.223482 0.15832 0.600598" mass="1.702" diaginertia="0.00776166 0.00717575 0.00160139" /> |
| <joint name="right_hip_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.7576 2.7576" /> |
| <geom class="visual" mesh="right_hip_yaw_link" /> |
| <geom name="right_thigh_collision" class="collision" size="0.055 0.0761577" pos="-0.03 0 -0.1" quat="0.979578 0 0.201066 0" /> |
| <body name="right_knee_link" pos="-0.078273 -0.0021489 -0.17734" quat="0.996179 0 0.0873386 0"> |
| <inertial pos="0.005457 -0.003964 -0.12074" quat="0.923439 0.0345276 0.0116333 -0.382012" mass="1.932" diaginertia="0.011374 0.0112843 0.00146452" /> |
| <joint name="right_knee_joint" pos="0 0 0" axis="0 1 0" range="-0.087267 2.8798" /> |
| <geom class="visual" mesh="right_knee_link" /> |
| <geom name="right_shin_collision" class="collision" size="0.045 0.075" pos="0.01 0 -0.075" /> |
| <geom name="right_linkage_brace_collision" class="collision" size="0.03 0.04" pos="0.01 0 -0.24" /> |
| <body name="right_ankle_pitch_link" pos="0 9.4445e-05 -0.30001"> |
| <inertial pos="-0.007269 0 0.011137" quat="0.603053 0.369225 0.369225 0.603053" mass="0.074" diaginertia="1.89e-05 1.40805e-05 6.9195e-06" /> |
| <joint name="right_ankle_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.87267 0.5236" /> |
| <geom class="visual" mesh="right_ankle_pitch_link" /> |
| <body name="right_ankle_roll_link" pos="0 0 -0.017558"> |
| <inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621" /> |
| <joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" /> |
| <geom class="visual" material="black" mesh="right_ankle_roll_link" /> |
| <geom name="right_foot1_collision" class="foot_capsule" size="0.01 0.025" pos="0.075 -0.026 -0.025" quat="0.707107 0 0.707107 0" /> |
| <geom name="right_foot2_collision" class="foot_capsule" size="0.01 0.0835" pos="0.0395 -0.018 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="right_foot3_collision" class="foot_capsule" size="0.01 0.091" pos="0.039 -0.01 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="right_foot4_collision" class="foot_capsule" size="0.01 0.093" pos="0.039 0 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="right_foot5_collision" class="foot_capsule" size="0.01 0.091" pos="0.039 0.01 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="right_foot6_collision" class="foot_capsule" size="0.01 0.0835" pos="0.0395 0.018 -0.025" quat="0.707107 0 -0.707107 0" /> |
| <geom name="right_foot7_collision" class="foot_capsule" size="0.01 0.025" pos="0.075 0.026 -0.025" quat="0.707107 0 0.707107 0" /> |
| <site name="right_foot" pos="0.04 0 -0.037" /> |
| <body name="right_toe_link" pos="0.1 0 -0.02" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="waist_yaw_link"> |
| <inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205" /> |
| <joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" /> |
| <geom class="visual" mesh="waist_yaw_link" /> |
| <body name="waist_roll_link" pos="-0.0039635 0 0.044"> |
| <inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06" /> |
| <joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" /> |
| <geom class="visual" mesh="waist_roll_link" /> |
| <body name="torso_link"> |
| <inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735" /> |
| <joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" /> |
| <geom class="visual" mesh="torso_link" /> |
| <geom class="visual" pos="0.0039635 0 -0.044" quat="1 0 0 0" material="black" mesh="logo_link" /> |
| <geom class="visual" pos="0.0039635 0 -0.044" material="black" mesh="head_link" /> |
| <geom name="torso_collision" class="collision" size="0.09 0.06" pos="0.01 0 0.14" quat="0 1 0 0" /> |
| <geom name="head_collision" class="collision" size="0.06" pos="0 0 0.43" type="sphere" /> |
| <site name="imu_in_torso" pos="-0.03959 -0.00224 0.14792" size="0.01" /> |
| <body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05"> |
| <inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" /> |
| <joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" /> |
| <geom class="visual" mesh="left_shoulder_pitch_link" /> |
| <body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0"> |
| <inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" /> |
| <joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" /> |
| <geom class="visual" mesh="left_shoulder_roll_link" /> |
| <body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032"> |
| <inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" /> |
| <joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" /> |
| <geom class="visual" mesh="left_shoulder_yaw_link" /> |
| <geom name="left_shoulder_yaw_collision" class="collision" size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" /> |
| <body name="left_elbow_link" pos="0.015783 0 -0.080518"> |
| <inertial pos="0.064956 0.004454 -0.010062" quat="0.541765 0.636132 0.388821 0.388129" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" /> |
| <joint name="left_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" /> |
| <geom class="visual" mesh="left_elbow_link" /> |
| <geom name="left_elbow_yaw_collision" class="collision" size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0" /> |
| <body name="left_wrist_roll_link" pos="0.1 0.00188791 -0.01"> |
| <inertial pos="0.0171394 0.000537591 4.8864e-07" quat="0.575338 0.411667 -0.574906 0.411094" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" /> |
| <joint name="left_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" /> |
| <geom class="visual" mesh="left_wrist_roll_link" /> |
| <body name="left_wrist_pitch_link" pos="0.038 0 0"> |
| <inertial pos="0.0254915 -0.000540425 -0.000541439" quat="0.48716 0.502863 0.487661 0.521527" mass="0.684" diaginertia="0.000716495 0.000716079 0.000255669" /> |
| <joint name="left_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" /> |
| <geom class="visual" mesh="left_wrist_pitch_link" /> |
| <geom name="left_wrist_collision" class="collision" size="0.035 0.035" pos="0.025 0 0" quat="0.707107 0 -0.707107 0" /> |
| <body name="left_wrist_yaw_link" pos="0.051 0 0"> |
| <inertial pos="0.0708244 0.000191745 0.00161742" quat="0.510571 0.526295 0.468078 0.493188" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" /> |
| <joint name="left_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" /> |
| <geom class="visual" mesh="left_wrist_yaw_link" /> |
| <site name="left_palm" pos="0.08 0 0" size="0.01" /> |
| <frame name="left_sharpa_mount"> |
| <body name="lh/left_hand_C_MC" childclass="lh/sharpa" pos="0.0405 0 0" quat="-0.5 0.5 -0.5 0.5"> |
| <geom name="lh/left_hand_C_MC_visual" class="lh/visual" mass="0.72045" material="lh/silver" mesh="lh/left_hand_C_MC_visual" /> |
| <geom name="lh/palm000_collision" class="lh/collision" mesh="lh/palm000" /> |
| <geom name="lh/palm001_collision" class="lh/collision" mesh="lh/palm001" /> |
| <geom name="lh/palm002_collision" class="lh/collision" mesh="lh/palm002" /> |
| <geom name="lh/palm003_collision" class="lh/collision" mesh="lh/palm003" /> |
| <geom name="lh/palm004_collision" class="lh/collision" mesh="lh/palm004" /> |
| <geom name="lh/palm005_collision" class="lh/collision" mesh="lh/palm005" /> |
| <geom name="lh/palm006_collision" class="lh/collision" mesh="lh/palm006" /> |
| <geom name="lh/palm007_collision" class="lh/collision" mesh="lh/palm007" /> |
| <geom name="lh/palm008_collision" class="lh/collision" mesh="lh/palm008" /> |
| <geom name="lh/palm009_collision" class="lh/collision" mesh="lh/palm009" /> |
| <geom name="lh/palm010_collision" class="lh/collision" mesh="lh/palm010" /> |
| <geom name="lh/palm011_collision" class="lh/collision" mesh="lh/palm011" /> |
| <geom name="lh/palm012_collision" class="lh/collision" mesh="lh/palm012" /> |
| <geom name="lh/palm013_collision" class="lh/collision" mesh="lh/palm013" /> |
| <geom name="lh/palm014_collision" class="lh/collision" mesh="lh/palm014" /> |
| <geom name="lh/palm015_collision" class="lh/collision" mesh="lh/palm015" /> |
| <geom name="lh/palm016_collision" class="lh/collision" mesh="lh/palm016" /> |
| <geom name="lh/palm017_collision" class="lh/collision" mesh="lh/palm017" /> |
| <geom name="lh/palm018_collision" class="lh/collision" mesh="lh/palm018" /> |
| <geom name="lh/palm019_collision" class="lh/collision" mesh="lh/palm019" /> |
| <geom name="lh/palm020_collision" class="lh/collision" mesh="lh/palm020" /> |
| <geom name="lh/palm021_collision" class="lh/collision" mesh="lh/palm021" /> |
| <geom name="lh/palm022_collision" class="lh/collision" mesh="lh/palm022" /> |
| <geom name="lh/palm023_collision" class="lh/collision" mesh="lh/palm023" /> |
| <geom name="lh/palm024_collision" class="lh/collision" mesh="lh/palm024" /> |
| <geom name="lh/palm025_collision" class="lh/collision" mesh="lh/palm025" /> |
| <geom name="lh/palm026_collision" class="lh/collision" mesh="lh/palm026" /> |
| <geom name="lh/palm027_collision" class="lh/collision" mesh="lh/palm027" /> |
| <geom name="lh/palm028_collision" class="lh/collision" mesh="lh/palm028" /> |
| <geom name="lh/palm029_collision" class="lh/collision" mesh="lh/palm029" /> |
| <geom name="lh/palm030_collision" class="lh/collision" mesh="lh/palm030" /> |
| <geom name="lh/palm031_collision" class="lh/collision" mesh="lh/palm031" /> |
| <site name="lh/wrist_site" pos="0 0 0" /> |
| <body name="lh/left_thumb_CMC_VL" pos="0.01 -0.026 0.0214" quat="0.707105 0 0 -0.707108"> |
| <inertial pos="-0.00065 -0.0002 0" quat="0.557664 0.434754 -0.557664 0.434754" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07" /> |
| <joint name="lh/left_thumb_CMC_FE" class="lh/CMC_joint" pos="0 0 0" axis="0 0 1" range="-0.1745 1.9199" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_thumb_CMC_VL" /> |
| <geom name="lh/left_thumb_CMC_VL_fit" size="0.0120419 0.00625" pos="0.000957197 0.000412167 1.20218e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_thumb_MC" pos="0 -0.005 0" quat="0.65328 0.653282 -0.270598 0.270599"> |
| <inertial pos="0.03643 -0.01024 -0.00517" quat="0.154462 0.683763 0.151259 0.696943" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05" /> |
| <joint name="lh/left_thumb_CMC_AA" class="lh/CMC_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_thumb_MC_visual" /> |
| <geom name="lh/left_thumb_MC_fit" size="0.0207081 0.0169273" pos="0.0397656 -0.0106861 -0.0110947" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_thumb_MCP_VL" pos="0.065 -0.006 -0.010392" quat="0.965926 -0.25882 0 0"> |
| <joint name="lh/left_thumb_MCP_FE" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.5236 1.3963" /> |
| <geom class="lh/visual" mass="8e-05" material="lh/silver" mesh="lh/left_thumb_MCP_VL_visual" /> |
| <body name="lh/left_thumb_PP" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.021256 -0.00095 0.00092" quat="0.511613 0.44358 0.554609 0.483631" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06" /> |
| <joint name="lh/left_thumb_MCP_AA" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_thumb_PP_visual" /> |
| <geom name="lh/left_thumb_PP_fit" size="0.011707 0.0137066" pos="0.0237179 -8.06477e-10 0.0012143" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_thumb_DP" pos="0.039 0 0" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.00823663 -0.00178196 -0.00099988" quat="-0.255956 0.713878 -0.187417 0.624291" mass="0.00998" diaginertia="1.09014e-06 1.041e-06 2.95174e-07" /> |
| <joint name="lh/left_thumb_IP" class="lh/PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/DP_Visual_HB1_TH" /> |
| <geom class="lh/visual" quat="0.5 0.5 -0.5 0.5" material="lh/green" mesh="lh/elastomer_HB1_TH" /> |
| <geom name="lh/left_thumb_fingertip_collision" class="lh/elastomer_collision" size="0.00943065 0.00677499" pos="0.0163733 -0.00176519 2.7474e-08" quat="0.508797 0.508797 0.491045 0.491045" type="capsule" /> |
| <site name="lh/left_thumb_fingertip" pos="0.0276109 0 0" quat="0.5 0.5 0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="lh/left_index_MCP_VL" pos="0.001 -0.0303 0.0959" quat="0.499998 -0.500002 -0.5 -0.5"> |
| <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="lh/left_index_MCP_FE" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MCP_VL_visual" /> |
| <geom name="lh/left_index_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_index_PP" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="lh/left_index_MCP_AA" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_PP_visual" /> |
| <geom name="lh/left_index_PP_fit" size="0.0104766 0.0172474" pos="0.0305371 8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_index_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="lh/left_index_PIP" class="lh/PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MP_visual" /> |
| <geom name="lh/left_index_MP_fit" size="0.0104174 0.0147236" pos="0.0147146 -0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_index_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="lh/left_index_DIP" class="lh/DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/DP_visual_HB1_4F" /> |
| <geom class="lh/visual" quat="0.5 0.5 -0.5 0.5" material="lh/green" mesh="lh/elastomer_HB1_4F" /> |
| <geom name="lh/left_index_fingertip_collision" class="lh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 -0.00086892 -1.32248e-06" quat="-0.0228873 0.706736 0.0228873 0.706736" type="capsule" /> |
| <site name="lh/left_index_fingertip" pos="0.0260093 0 0" quat="0.5 0.5 0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="lh/left_middle_MCP_VL" pos="0 -0.01 0.0989" quat="0.499998 -0.500002 -0.5 -0.5"> |
| <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="lh/left_middle_MCP_FE" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MCP_VL_visual" /> |
| <geom name="lh/left_middle_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_middle_PP" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="lh/left_middle_MCP_AA" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_PP_visual" /> |
| <geom name="lh/left_middle_PP_fit" size="0.00934798 0.0172474" pos="0.0305371 8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_middle_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="lh/left_middle_PIP" class="lh/PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MP_visual" /> |
| <geom name="lh/left_middle_MP_fit" size="0.00940724 0.0147236" pos="0.0147146 -0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_middle_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="lh/left_middle_DIP" class="lh/DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/DP_visual_HB1_4F" /> |
| <geom class="lh/visual" quat="0.5 0.5 -0.5 0.5" material="lh/green" mesh="lh/elastomer_HB1_4F" /> |
| <geom name="lh/left_middle_fingertip_collision" class="lh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 -0.00086892 -1.32248e-06" quat="-0.0228873 0.706736 0.0228873 0.706736" type="capsule" /> |
| <site name="lh/left_middle_fingertip" pos="0.0260093 0 0" quat="0.5 0.5 0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="lh/left_ring_MCP_VL" pos="0.0015 0.0103 0.0929" quat="0.499998 -0.500002 -0.5 -0.5"> |
| <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="lh/left_ring_MCP_FE" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MCP_VL_visual" /> |
| <geom name="lh/left_ring_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_ring_PP" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="lh/left_ring_MCP_AA" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_PP_visual" /> |
| <geom name="lh/left_ring_PP_fit" size="0.00970157 0.0172474" pos="0.0305371 8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_ring_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="lh/left_ring_PIP" class="lh/PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MP_visual" /> |
| <geom name="lh/left_ring_MP_fit" size="0.0104481 0.0147236" pos="0.0147146 -0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_ring_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="lh/left_ring_DIP" class="lh/DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/DP_visual_HB1_4F" /> |
| <geom class="lh/visual" quat="0.499998 0.5 -0.5 0.500002" material="lh/green" mesh="lh/elastomer_HB1_4F" /> |
| <geom name="lh/left_ring_fingertip_collision" class="lh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 -0.00086892 -1.32248e-06" quat="-0.0228873 0.706736 0.0228873 0.706736" type="capsule" /> |
| <site name="lh/left_ring_fingertip" pos="0.0260093 1.04037e-07 1.04037e-07" quat="0.5 0.499998 0.5 0.500002" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="lh/left_pinky_MC" pos="0.01136 0.0263 0.0869" quat="1.34924e-11 3.67321e-06 -1 -3.67321e-06"> |
| <joint name="lh/left_pinky_CMC" class="lh/PCMC_joint" pos="0 0 0" axis="0 0 1" range="0 0.2618" /> |
| <geom class="lh/visual" mass="0.12541" material="lh/silver" mesh="lh/left_pinky_MC_visual" /> |
| <geom class="lh/collision" mesh="lh/left_pinky_MC" /> |
| <body name="lh/left_pinky_MCP_VL" pos="0.00836 0.0048 0" quat="0.499998 -0.5 0.5 0.500002"> |
| <inertial pos="-0.0092 -0.0013 0" quat="0.479506 0.519686 -0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="lh/left_pinky_MCP_FE" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.174533 1.5708" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MCP_VL_visual" /> |
| <geom name="lh/left_pinky_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_pinky_PP" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.027 -0.00055 -0.00068" quat="0.502719 0.479286 0.512565 0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="lh/left_pinky_MCP_AA" class="lh/MCP_joint" pos="0 0 0" axis="0 0 1" range="-0.3491 0.3491" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_PP_visual" /> |
| <geom name="lh/left_pinky_PP_fit" size="0.0106522 0.0172474" pos="0.0305371 8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_pinky_MP" pos="0.047 0 0" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.01212 -0.00116 0.00058" quat="-0.0266408 0.732558 -0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="lh/left_pinky_PIP" class="lh/PIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.7453" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/left_MP_visual" /> |
| <geom name="lh/left_pinky_MP_fit" size="0.00990499 0.0147236" pos="0.0147146 -0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="lh/left_pinky_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 -0.00257344 -0.000107634" quat="-0.0491898 0.71664 -0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="lh/left_pinky_DIP" class="lh/DIP_joint" pos="0 0 0" axis="0 0 1" range="0 1.3963" /> |
| <geom class="lh/visual" material="lh/silver" mesh="lh/DP_visual_HB1_4F" /> |
| <geom class="lh/visual" quat="0.5 0.5 -0.5 0.5" material="lh/green" mesh="lh/elastomer_HB1_4F" /> |
| <geom name="lh/left_pinky_fingertip_collision" class="lh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 -0.00086892 -1.32248e-06" quat="-0.0228873 0.706736 0.0228873 0.706736" type="capsule" /> |
| <site name="lh/left_pinky_fingertip" pos="0.0260093 0 0" quat="0.5 0.5 0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </frame> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05"> |
| <inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394" /> |
| <joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" /> |
| <geom class="visual" mesh="right_shoulder_pitch_link" /> |
| <body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0"> |
| <inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977" /> |
| <joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" /> |
| <geom class="visual" mesh="right_shoulder_roll_link" /> |
| <body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032"> |
| <inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661" /> |
| <joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" /> |
| <geom class="visual" mesh="right_shoulder_yaw_link" /> |
| <geom name="right_shoulder_yaw_collision" class="collision" size="0.035 0.065" pos="0 0 -0.015" quat="0 1 0 0" /> |
| <body name="right_elbow_link" pos="0.015783 0 -0.080518"> |
| <inertial pos="0.064956 -0.004454 -0.010062" quat="0.388129 0.388821 0.636132 0.541765" mass="0.6" diaginertia="0.000443035 0.000421612 0.000259353" /> |
| <joint name="right_elbow_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 2.0944" /> |
| <geom class="visual" mesh="right_elbow_link" /> |
| <geom name="right_elbow_yaw_collision" class="collision" size="0.035 0.045" pos="0.035 0 -0.01" quat="0.707107 0 -0.707107 0" /> |
| <body name="right_wrist_roll_link" pos="0.1 -0.00188791 -0.01"> |
| <inertial pos="0.0171394 -0.000537591 4.8864e-07" quat="0.411667 0.575338 -0.411094 0.574906" mass="0.085445" diaginertia="5.48211e-05 4.96646e-05 3.57798e-05" /> |
| <joint name="right_wrist_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.97222 1.97222" /> |
| <geom class="visual" mesh="right_wrist_roll_link" /> |
| <body name="right_wrist_pitch_link" pos="0.038 0 0"> |
| <inertial pos="0.0254915 0.000540425 -0.000541439" quat="0.487661 0.521527 0.48716 0.502863" mass="0.684" diaginertia="0.000716495 0.000716079 0.000255669" /> |
| <joint name="right_wrist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-1.61443 1.61443" /> |
| <geom class="visual" mesh="right_wrist_pitch_link" /> |
| <geom name="right_wrist_collision" class="collision" size="0.035 0.035" pos="0.025 0 0" quat="0.707107 0 -0.707107 0" /> |
| <body name="right_wrist_yaw_link" pos="0.051 0 0"> |
| <inertial pos="0.0708244 -0.000191745 0.00161742" quat="0.493188 0.468078 0.526295 0.510571" mass="0.254576" diaginertia="0.000646113 0.000559993 0.000147566" /> |
| <joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" /> |
| <geom class="visual" mesh="right_wrist_yaw_link" /> |
| <site name="right_palm" pos="0.08 0 0" size="0.01" /> |
| <frame name="right_sharpa_mount"> |
| <body name="rh/right_hand_C_MC" childclass="rh/sharpa" pos="0.0405 0 0" quat="0.5 0.5 0.5 0.5"> |
| <geom name="rh/right_hand_C_MC_visual" class="rh/visual" mass="0.72045" material="rh/silver" mesh="rh/right_hand_C_MC_visual" /> |
| <geom name="rh/palm000_collision" class="rh/collision" mesh="rh/palm000" /> |
| <geom name="rh/palm001_collision" class="rh/collision" mesh="rh/palm001" /> |
| <geom name="rh/palm002_collision" class="rh/collision" mesh="rh/palm002" /> |
| <geom name="rh/palm003_collision" class="rh/collision" mesh="rh/palm003" /> |
| <geom name="rh/palm004_collision" class="rh/collision" mesh="rh/palm004" /> |
| <geom name="rh/palm005_collision" class="rh/collision" mesh="rh/palm005" /> |
| <geom name="rh/palm006_collision" class="rh/collision" mesh="rh/palm006" /> |
| <geom name="rh/palm007_collision" class="rh/collision" mesh="rh/palm007" /> |
| <geom name="rh/palm008_collision" class="rh/collision" mesh="rh/palm008" /> |
| <geom name="rh/palm009_collision" class="rh/collision" mesh="rh/palm009" /> |
| <geom name="rh/palm010_collision" class="rh/collision" mesh="rh/palm010" /> |
| <geom name="rh/palm011_collision" class="rh/collision" mesh="rh/palm011" /> |
| <geom name="rh/palm012_collision" class="rh/collision" mesh="rh/palm012" /> |
| <geom name="rh/palm013_collision" class="rh/collision" mesh="rh/palm013" /> |
| <geom name="rh/palm014_collision" class="rh/collision" mesh="rh/palm014" /> |
| <geom name="rh/palm015_collision" class="rh/collision" mesh="rh/palm015" /> |
| <geom name="rh/palm016_collision" class="rh/collision" mesh="rh/palm016" /> |
| <geom name="rh/palm017_collision" class="rh/collision" mesh="rh/palm017" /> |
| <geom name="rh/palm018_collision" class="rh/collision" mesh="rh/palm018" /> |
| <geom name="rh/palm019_collision" class="rh/collision" mesh="rh/palm019" /> |
| <geom name="rh/palm020_collision" class="rh/collision" mesh="rh/palm020" /> |
| <geom name="rh/palm021_collision" class="rh/collision" mesh="rh/palm021" /> |
| <geom name="rh/palm022_collision" class="rh/collision" mesh="rh/palm022" /> |
| <geom name="rh/palm023_collision" class="rh/collision" mesh="rh/palm023" /> |
| <geom name="rh/palm024_collision" class="rh/collision" mesh="rh/palm024" /> |
| <geom name="rh/palm025_collision" class="rh/collision" mesh="rh/palm025" /> |
| <geom name="rh/palm026_collision" class="rh/collision" mesh="rh/palm026" /> |
| <geom name="rh/palm027_collision" class="rh/collision" mesh="rh/palm027" /> |
| <geom name="rh/palm028_collision" class="rh/collision" mesh="rh/palm028" /> |
| <geom name="rh/palm029_collision" class="rh/collision" mesh="rh/palm029" /> |
| <geom name="rh/palm030_collision" class="rh/collision" mesh="rh/palm030" /> |
| <geom name="rh/palm031_collision" class="rh/collision" mesh="rh/palm031" /> |
| <site name="rh/wrist_site" pos="0 0 0" /> |
| <body name="rh/right_thumb_CMC_VL" pos="0.01 0.026 0.0214" quat="0.707105 0 0 0.707108"> |
| <inertial pos="-0.00065 0.0002 0" quat="0.557664 -0.434754 -0.557664 -0.434754" mass="0.0025" diaginertia="2.6e-07 2.12661e-07 1.34339e-07" /> |
| <joint name="rh/right_thumb_CMC_FE" class="rh/CMC_joint" pos="0 0 0" axis="0 0 -1" range="-0.1745 1.9199" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_thumb_CMC_VL" /> |
| <geom name="rh/right_thumb_CMC_VL_fit" size="0.0120419 0.00625" pos="0.000957197 -0.000412167 1.20218e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_thumb_MC" pos="0 0.005 0" quat="0.65328 -0.653282 -0.270598 -0.270599"> |
| <inertial pos="0.03643 0.01024 -0.00517" quat="-0.154462 0.683763 -0.151259 0.696943" mass="0.13587" diaginertia="4.69153e-05 4.29066e-05 1.92101e-05" /> |
| <joint name="rh/right_thumb_CMC_AA" class="rh/CMC_joint" pos="0 0 0" axis="0 0 -1" range="-0.3491 0.3491" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_thumb_MC_visual" /> |
| <geom name="rh/right_thumb_MC_fit" size="0.0207081 0.0169273" pos="0.0397656 0.0106861 -0.0110947" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_thumb_MCP_VL" pos="0.065 0.006 -0.010392" quat="0.965926 0.25882 0 0"> |
| <joint name="rh/right_thumb_MCP_FE" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.5236 1.3963" /> |
| <geom class="rh/visual" mass="8e-05" material="rh/silver" mesh="rh/right_thumb_MCP_VL_visual" /> |
| <body name="rh/right_thumb_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.021256 0.00095 0.00092" quat="0.511613 -0.44358 0.554609 -0.483631" mass="0.03078" diaginertia="6.08344e-06 5.91207e-06 1.22148e-06" /> |
| <joint name="rh/right_thumb_MCP_AA" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.3491 0.3491" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_thumb_PP_visual" /> |
| <geom name="rh/right_thumb_PP_fit" size="0.011707 0.0137066" pos="0.0237179 8.06477e-10 0.0012143" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_thumb_DP" pos="0.039 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.00823663 0.00178196 -0.00099988" quat="0.255956 0.713878 0.187417 0.624291" mass="0.00998" diaginertia="1.09014e-06 1.041e-06 2.95174e-07" /> |
| <joint name="rh/right_thumb_IP" class="rh/PIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7453" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/DP_Visual_HB1_TH" /> |
| <geom class="rh/visual" quat="-0.5 0.5 0.5 0.5" material="rh/green" mesh="rh/elastomer_HB1_TH" /> |
| <geom name="rh/right_thumb_fingertip_collision" class="rh/elastomer_collision" size="0.00943065 0.00677499" pos="0.0163733 0.00176519 2.7474e-08" quat="0.508797 -0.508797 0.491045 -0.491045" type="capsule" /> |
| <site name="rh/right_thumb_fingertip" pos="0.0276109 0 0" quat="-0.5 0.5 -0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="rh/right_index_MCP_VL" pos="0.001 0.0303 0.0959" quat="0.499998 0.500002 -0.5 0.5"> |
| <inertial pos="-0.0092 0.0013 0" quat="-0.479506 0.519686 0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="rh/right_index_MCP_FE" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.174533 1.5708" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MCP_VL_visual" /> |
| <geom name="rh/right_index_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 -0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_index_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 -0.00068" quat="0.502719 -0.479286 0.512565 -0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="rh/right_index_MCP_AA" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.3491 0.3491" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_PP_visual" /> |
| <geom name="rh/right_index_PP_fit" size="0.0104766 0.0172474" pos="0.0305371 -8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_index_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 0.00116 0.00058" quat="0.0266408 0.732558 0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="rh/right_index_PIP" class="rh/PIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7453" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MP_visual" /> |
| <geom name="rh/right_index_MP_fit" size="0.0104174 0.0147236" pos="0.0147146 0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_index_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 0.00257344 -0.000107634" quat="0.0491898 0.71664 0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="rh/right_index_DIP" class="rh/DIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.3963" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/DP_visual_HB1_4F" /> |
| <geom class="rh/visual" quat="-0.5 0.5 0.5 0.5" material="rh/green" mesh="rh/elastomer_HB1_4F" /> |
| <geom name="rh/right_index_fingertip_collision" class="rh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 0.00086892 -1.32248e-06" quat="0.0228873 0.706736 -0.0228873 0.706736" type="capsule" /> |
| <site name="rh/right_index_fingertip" pos="0.0260093 0 0" quat="-0.5 0.5 -0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="rh/right_middle_MCP_VL" pos="0 0.01 0.0989" quat="0.499998 0.500002 -0.5 0.5"> |
| <inertial pos="-0.0092 0.0013 0" quat="-0.479506 0.519686 0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="rh/right_middle_MCP_FE" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.174533 1.5708" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MCP_VL_visual" /> |
| <geom name="rh/right_middle_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 -0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_middle_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 -0.00068" quat="0.502719 -0.479286 0.512565 -0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="rh/right_middle_MCP_AA" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.3491 0.3491" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_PP_visual" /> |
| <geom name="rh/right_middle_PP_fit" size="0.00934798 0.0172474" pos="0.0305371 -8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_middle_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 0.00116 0.00058" quat="0.0266408 0.732558 0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="rh/right_middle_PIP" class="rh/PIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7453" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MP_visual" /> |
| <geom name="rh/right_middle_MP_fit" size="0.00940724 0.0147236" pos="0.0147146 0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_middle_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 0.00257344 -0.000107634" quat="0.0491898 0.71664 0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="rh/right_middle_DIP" class="rh/DIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.3963" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/DP_visual_HB1_4F" /> |
| <geom class="rh/visual" quat="-0.5 0.5 0.5 0.5" material="rh/green" mesh="rh/elastomer_HB1_4F" /> |
| <geom name="rh/right_middle_fingertip_collision" class="rh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 0.00086892 -1.32248e-06" quat="0.0228873 0.706736 -0.0228873 0.706736" type="capsule" /> |
| <site name="rh/right_middle_fingertip" pos="0.0260093 0 0" quat="-0.5 0.5 -0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="rh/right_ring_MCP_VL" pos="0.0015 -0.0103 0.0929" quat="0.499998 0.500002 -0.5 0.5"> |
| <inertial pos="-0.0092 0.0013 0" quat="-0.479506 0.519686 0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="rh/right_ring_MCP_FE" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.174533 1.5708" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MCP_VL_visual" /> |
| <geom name="rh/right_ring_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 -0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_ring_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 -0.00068" quat="0.502719 -0.479286 0.512565 -0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="rh/right_ring_MCP_AA" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.3491 0.3491" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_PP_visual" /> |
| <geom name="rh/right_ring_PP_fit" size="0.00970157 0.0172474" pos="0.0305371 -8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_ring_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 0.00116 0.00058" quat="0.0266408 0.732558 0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="rh/right_ring_PIP" class="rh/PIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7453" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MP_visual" /> |
| <geom name="rh/right_ring_MP_fit" size="0.0104481 0.0147236" pos="0.0147146 0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_ring_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 0.00257344 -0.000107634" quat="0.0491898 0.71664 0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="rh/right_ring_DIP" class="rh/DIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.3963" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/DP_visual_HB1_4F" /> |
| <geom class="rh/visual" quat="-0.499998 0.5 0.5 0.500002" material="rh/green" mesh="rh/elastomer_HB1_4F" /> |
| <geom name="rh/right_ring_fingertip_collision" class="rh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 0.00086892 -1.32248e-06" quat="0.0228873 0.706736 -0.0228873 0.706736" type="capsule" /> |
| <site name="rh/right_ring_fingertip" pos="0.0260093 -1.04037e-07 1.04037e-07" quat="-0.5 0.499998 -0.5 0.500002" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| <body name="rh/right_pinky_MC" pos="0.01136 -0.0263 0.0869" quat="-1.34924e-11 3.67321e-06 1 -3.67321e-06"> |
| <joint name="rh/right_pinky_CMC" class="rh/PCMC_joint" pos="0 0 0" axis="0 0 -1" range="0 0.2618" /> |
| <geom class="rh/visual" mass="0.12541" material="rh/silver" mesh="rh/right_pinky_MC_visual" /> |
| <geom class="rh/collision" mesh="rh/right_pinky_MC" /> |
| <body name="rh/right_pinky_MCP_VL" pos="0.00836 -0.0048 0" quat="-0.499998 -0.5 -0.5 0.500002"> |
| <inertial pos="-0.0092 0.0013 0" quat="-0.479506 0.519686 0.479506 0.519686" mass="0.00221" diaginertia="2.23e-07 1.77435e-07 1.09965e-07" /> |
| <joint name="rh/right_pinky_MCP_FE" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.174533 1.5708" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MCP_VL_visual" /> |
| <geom name="rh/right_pinky_MCP_VL_fit" size="0.0125535 0.0057" pos="0.00165159 -0.00045 1.0897e-10" type="cylinder" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_pinky_PP" quat="0.707105 -0.707108 0 0"> |
| <inertial pos="0.027 0.00055 -0.00068" quat="0.502719 -0.479286 0.512565 -0.504813" mass="0.04741" diaginertia="1.14061e-05 1.10467e-05 2.15425e-06" /> |
| <joint name="rh/right_pinky_MCP_AA" class="rh/MCP_joint" pos="0 0 0" axis="0 0 -1" range="-0.3491 0.3491" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_PP_visual" /> |
| <geom name="rh/right_pinky_PP_fit" size="0.0106522 0.0172474" pos="0.0305371 -8.5591e-06 0.000140714" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_pinky_MP" pos="0.047 0 0" quat="0.707105 0.707108 0 0"> |
| <inertial pos="0.01212 0.00116 0.00058" quat="0.0266408 0.732558 0.0189273 0.67992" mass="0.01824" diaginertia="2.00683e-06 1.9229e-06 5.68878e-07" /> |
| <joint name="rh/right_pinky_PIP" class="rh/PIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.7453" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/right_MP_visual" /> |
| <geom name="rh/right_pinky_MP_fit" size="0.00990499 0.0147236" pos="0.0147146 0.00118535 -4.70523e-07" quat="0.707107 0 0.707107 0" type="capsule" group="3" rgba="0.2 0.6 0.2 0.35" /> |
| <body name="rh/right_pinky_DP" pos="0.0315 0 0"> |
| <inertial pos="0.0124856 0.00257344 -0.000107634" quat="0.0491898 0.71664 0.0584115 0.69325" mass="0.00465" diaginertia="3.15145e-07 3.09574e-07 1.34852e-07" /> |
| <joint name="rh/right_pinky_DIP" class="rh/DIP_joint" pos="0 0 0" axis="0 0 -1" range="0 1.3963" /> |
| <geom class="rh/visual" material="rh/silver" mesh="rh/DP_visual_HB1_4F" /> |
| <geom class="rh/visual" quat="-0.5 0.5 0.5 0.5" material="rh/green" mesh="rh/elastomer_HB1_4F" /> |
| <geom name="rh/right_pinky_fingertip_collision" class="rh/elastomer_collision" size="0.00806303 0.00535098" pos="0.0139214 0.00086892 -1.32248e-06" quat="0.0228873 0.706736 -0.0228873 0.706736" type="capsule" /> |
| <site name="rh/right_pinky_fingertip" pos="0.0260093 0 0" quat="-0.5 0.5 -0.5 0.5" /> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </frame> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
| <contact> |
| <exclude body1="pelvis" body2="left_hip_roll_link" /> |
| <exclude body1="pelvis" body2="right_hip_roll_link" /> |
| <exclude body1="left_elbow_link" body2="left_wrist_pitch_link" /> |
| <exclude body1="left_wrist_yaw_link" body2="lh/left_hand_C_MC" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_thumb_CMC_VL" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_thumb_MC" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_index_MCP_VL" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_middle_MCP_VL" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_ring_MCP_VL" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_pinky_MC" /> |
| <exclude body1="lh/left_hand_C_MC" body2="lh/left_pinky_MCP_VL" /> |
| <exclude body1="lh/left_thumb_CMC_VL" body2="lh/left_thumb_MC" /> |
| <exclude body1="lh/left_thumb_MC" body2="lh/left_thumb_PP" /> |
| <exclude body1="lh/left_thumb_PP" body2="lh/left_thumb_DP" /> |
| <exclude body1="lh/left_index_MCP_VL" body2="lh/left_index_PP" /> |
| <exclude body1="lh/left_index_MCP_VL" body2="lh/left_middle_MCP_VL" /> |
| <exclude body1="lh/left_index_PP" body2="lh/left_index_MP" /> |
| <exclude body1="lh/left_index_MP" body2="lh/left_index_DP" /> |
| <exclude body1="lh/left_middle_MCP_VL" body2="lh/left_middle_PP" /> |
| <exclude body1="lh/left_middle_MCP_VL" body2="lh/left_ring_MCP_VL" /> |
| <exclude body1="lh/left_middle_PP" body2="lh/left_middle_MP" /> |
| <exclude body1="lh/left_middle_MP" body2="lh/left_middle_DP" /> |
| <exclude body1="lh/left_ring_MCP_VL" body2="lh/left_ring_PP" /> |
| <exclude body1="lh/left_ring_MCP_VL" body2="lh/left_pinky_MCP_VL" /> |
| <exclude body1="lh/left_ring_PP" body2="lh/left_ring_MP" /> |
| <exclude body1="lh/left_ring_MP" body2="lh/left_ring_DP" /> |
| <exclude body1="lh/left_pinky_MC" body2="lh/left_pinky_MCP_VL" /> |
| <exclude body1="lh/left_pinky_MCP_VL" body2="lh/left_pinky_PP" /> |
| <exclude body1="lh/left_pinky_PP" body2="lh/left_pinky_MP" /> |
| <exclude body1="lh/left_pinky_MP" body2="lh/left_pinky_DP" /> |
| <exclude body1="right_elbow_link" body2="right_wrist_pitch_link" /> |
| <exclude body1="right_wrist_yaw_link" body2="rh/right_hand_C_MC" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_thumb_CMC_VL" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_thumb_MC" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_index_MCP_VL" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_middle_MCP_VL" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_ring_MCP_VL" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_pinky_MC" /> |
| <exclude body1="rh/right_hand_C_MC" body2="rh/right_pinky_MCP_VL" /> |
| <exclude body1="rh/right_thumb_CMC_VL" body2="rh/right_thumb_MC" /> |
| <exclude body1="rh/right_thumb_MC" body2="rh/right_thumb_PP" /> |
| <exclude body1="rh/right_thumb_PP" body2="rh/right_thumb_DP" /> |
| <exclude body1="rh/right_index_MCP_VL" body2="rh/right_index_PP" /> |
| <exclude body1="rh/right_index_MCP_VL" body2="rh/right_middle_MCP_VL" /> |
| <exclude body1="rh/right_index_PP" body2="rh/right_index_MP" /> |
| <exclude body1="rh/right_index_MP" body2="rh/right_index_DP" /> |
| <exclude body1="rh/right_middle_MCP_VL" body2="rh/right_middle_PP" /> |
| <exclude body1="rh/right_middle_MCP_VL" body2="rh/right_ring_MCP_VL" /> |
| <exclude body1="rh/right_middle_PP" body2="rh/right_middle_MP" /> |
| <exclude body1="rh/right_middle_MP" body2="rh/right_middle_DP" /> |
| <exclude body1="rh/right_ring_MCP_VL" body2="rh/right_ring_PP" /> |
| <exclude body1="rh/right_ring_MCP_VL" body2="rh/right_pinky_MCP_VL" /> |
| <exclude body1="rh/right_ring_PP" body2="rh/right_ring_MP" /> |
| <exclude body1="rh/right_ring_MP" body2="rh/right_ring_DP" /> |
| <exclude body1="rh/right_pinky_MC" body2="rh/right_pinky_MCP_VL" /> |
| <exclude body1="rh/right_pinky_MCP_VL" body2="rh/right_pinky_PP" /> |
| <exclude body1="rh/right_pinky_PP" body2="rh/right_pinky_MP" /> |
| <exclude body1="rh/right_pinky_MP" body2="rh/right_pinky_DP" /> |
| </contact> |
| <actuator> |
| <general name="lh/left_thumb_CMC_FE" class="lh/sharpa" joint="lh/left_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9" /> |
| <general name="lh/left_thumb_CMC_AA" class="lh/sharpa" joint="lh/left_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9" /> |
| <general name="lh/left_thumb_MCP_FE" class="lh/sharpa" joint="lh/left_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="lh/left_thumb_MCP_AA" class="lh/sharpa" joint="lh/left_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="lh/left_thumb_IP" class="lh/sharpa" joint="lh/left_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_index_MCP_FE" class="lh/sharpa" joint="lh/left_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="lh/left_index_MCP_AA" class="lh/sharpa" joint="lh/left_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="lh/left_index_PIP" class="lh/sharpa" joint="lh/left_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_index_DIP" class="lh/sharpa" joint="lh/left_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_middle_MCP_FE" class="lh/sharpa" joint="lh/left_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="lh/left_middle_MCP_AA" class="lh/sharpa" joint="lh/left_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="lh/left_middle_PIP" class="lh/sharpa" joint="lh/left_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_middle_DIP" class="lh/sharpa" joint="lh/left_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_ring_MCP_FE" class="lh/sharpa" joint="lh/left_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="lh/left_ring_MCP_AA" class="lh/sharpa" joint="lh/left_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="lh/left_ring_PIP" class="lh/sharpa" joint="lh/left_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_ring_DIP" class="lh/sharpa" joint="lh/left_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_pinky_CMC" class="lh/sharpa" joint="lh/left_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9" /> |
| <general name="lh/left_pinky_MCP_FE" class="lh/sharpa" joint="lh/left_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="lh/left_pinky_MCP_AA" class="lh/sharpa" joint="lh/left_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="lh/left_pinky_PIP" class="lh/sharpa" joint="lh/left_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="lh/left_pinky_DIP" class="lh/sharpa" joint="lh/left_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_thumb_CMC_FE" class="rh/sharpa" joint="rh/right_thumb_CMC_FE" ctrlrange="-0.1745 1.9199" gainprm="6.95" biasprm="0 -6.95 0.9" /> |
| <general name="rh/right_thumb_CMC_AA" class="rh/sharpa" joint="rh/right_thumb_CMC_AA" ctrlrange="-0.3491 0.3491" gainprm="13.2" biasprm="0 -13.2 0.9" /> |
| <general name="rh/right_thumb_MCP_FE" class="rh/sharpa" joint="rh/right_thumb_MCP_FE" ctrlrange="-0.5236 1.3963" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="rh/right_thumb_MCP_AA" class="rh/sharpa" joint="rh/right_thumb_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="rh/right_thumb_IP" class="rh/sharpa" joint="rh/right_thumb_IP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_index_MCP_FE" class="rh/sharpa" joint="rh/right_index_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="rh/right_index_MCP_AA" class="rh/sharpa" joint="rh/right_index_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="rh/right_index_PIP" class="rh/sharpa" joint="rh/right_index_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_index_DIP" class="rh/sharpa" joint="rh/right_index_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_middle_MCP_FE" class="rh/sharpa" joint="rh/right_middle_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="rh/right_middle_MCP_AA" class="rh/sharpa" joint="rh/right_middle_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="rh/right_middle_PIP" class="rh/sharpa" joint="rh/right_middle_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_middle_DIP" class="rh/sharpa" joint="rh/right_middle_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_ring_MCP_FE" class="rh/sharpa" joint="rh/right_ring_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="rh/right_ring_MCP_AA" class="rh/sharpa" joint="rh/right_ring_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="rh/right_ring_PIP" class="rh/sharpa" joint="rh/right_ring_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_ring_DIP" class="rh/sharpa" joint="rh/right_ring_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_pinky_CMC" class="rh/sharpa" joint="rh/right_pinky_CMC" ctrlrange="0 0.2618" gainprm="1.38" biasprm="0 -1.38 0.9" /> |
| <general name="rh/right_pinky_MCP_FE" class="rh/sharpa" joint="rh/right_pinky_MCP_FE" ctrlrange="-0.174533 1.5708" gainprm="4.76" biasprm="0 -4.76 0.9" /> |
| <general name="rh/right_pinky_MCP_AA" class="rh/sharpa" joint="rh/right_pinky_MCP_AA" ctrlrange="-0.3491 0.3491" gainprm="6.62" biasprm="0 -6.62 0.9" /> |
| <general name="rh/right_pinky_PIP" class="rh/sharpa" joint="rh/right_pinky_PIP" ctrlrange="0 1.7453" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| <general name="rh/right_pinky_DIP" class="rh/sharpa" joint="rh/right_pinky_DIP" ctrlrange="0 1.3963" gainprm="0.9" biasprm="0 -0.9 0.9" /> |
| </actuator> |
| <sensor> |
| <gyro site="imu_in_pelvis" name="imu_ang_vel" /> |
| <velocimeter site="imu_in_pelvis" name="imu_lin_vel" /> |
| <accelerometer site="imu_in_pelvis" name="imu_lin_acc" /> |
| <subtreeangmom body="pelvis" name="root_angmom" /> |
| </sensor> |
| </mujoco> |
