418 lines
22 KiB
XML
418 lines
22 KiB
XML
<!-- LEAP Hand (Right-Handed)
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##################
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Naming Conventions
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##################
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* Finger phalanges: {bs, px, md, ds} denote {base, proximal, middle, distal} phalanges.
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* Thumb phalances: {mp, bs, px, ds} denote {metacarpal, base, proximal, distal} phalanges.
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|========|===========|
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| BODY # | BODY NAME |
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|========|===========|
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| PALM | palm |
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|========|===========|
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| 0 | if_bs |
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| 1 | if_px |
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| 2 | if_md |
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| 3 | if_ds |
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|========|===========|
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| 4 | mf_bs |
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| 5 | mf_px |
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| 6 | mf_md |
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| 7 | mf_ds |
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|========|===========|
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| 8 | rf_bs |
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| 9 | rf_px |
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| 10 | rf_md |
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| 11 | rf_ds |
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|========|===========|
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| 12 | th_mp |
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| 13 | th_bs |
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| 14 | th_px |
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| 15 | th_ds |
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|========|===========|
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* Finger joints: {mcp, rot, pip, dip} denote {metacarpophalangeal, rotational, proximal interphalangeal, distal interphalangeal} joints.
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* Thumb joints: {cmc, axl, mcp, ipl} denote {carpometacarpal, axial, metacarpophalangeal, interphalangeal} joints.
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|=========|============|
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| JOINT # | JOINT NAME |
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|=========|============|
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| 0 | if_mcp |
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| 1 | if_rot |
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| 2 | if_pip |
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| 3 | if_dip |
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|=========|============|
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| 4 | mf_mcp |
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| 5 | mf_rot |
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| 6 | mf_pip |
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| 7 | mf_dip |
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|=========|============|
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| 8 | rf_mcp |
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| 9 | rf_rot |
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| 10 | rf_pip |
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| 11 | rf_dip |
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|=========|============|
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| 12 | th_cmc |
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| 13 | th_axl |
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| 14 | th_mcp |
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| 15 | th_ipl |
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|=========|============|
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-->
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<mujoco model="leap_rh">
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<compiler angle="radian" meshdir="./assets/"/>
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<option integrator="implicitfast" cone="elliptic" impratio="100"/>
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<!-- mesh assets -->
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<asset>
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<material name="black" rgba="0.2 0.2 0.2 1" />
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<mesh name="palm" file="palm_right.obj"/>
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<mesh name="base" file="base.obj"/>
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<mesh name="proximal" file="proximal.obj"/>
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<mesh name="medial" file="medial.obj"/>
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<mesh name="distal" file="distal.obj"/>
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<mesh name="tip" file="tip.obj"/>
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<mesh name="thumb_base" file="thumb_base.obj"/>
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<mesh name="thumb_proximal" file="thumb_proximal.obj"/>
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<mesh name="thumb_distal" file="thumb_distal.obj"/>
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<mesh name="thumb_tip" file="thumb_tip.obj"/>
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</asset>
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<!-- defaults -->
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<default>
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<!-- constraint stiffness -->
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<geom solimp="0.999 0.999 0.001 0.0001 1" solref="0.0001 1" friction=".2"/>
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<!-- actuator defaults -->
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<position kp="3.0" kv="0.01" />
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<joint damping="0.03" frictionloss="0.001"/>
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<!-- geom class defaults -->
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<default class="visual">
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<geom group="1" type="mesh" contype="0" conaffinity="0" density="0" material="black" />
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</default>
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<default class="tip">
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<geom type="mesh" mesh="tip" friction="0.5"/>
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</default>
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<default class="thumb_tip">
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<geom type="mesh" mesh="thumb_tip" friction="0.5"/>
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</default>
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<!-- joint class defaults -->
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<default class="mcp">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-0.314 2.23" />
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<position ctrlrange="-0.314 2.23" />
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</default>
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<default class="rot">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-1.047 1.047" />
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<position ctrlrange="-1.047 1.047" />
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</default>
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<default class="pip">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-0.506 1.885" />
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<position ctrlrange="-0.506 1.885" />
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</default>
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<default class="dip">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-0.366 2.042" />
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<position ctrlrange="-0.366 2.042" />
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</default>
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<default class="thumb_cmc">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-0.349 2.094" />
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<position ctrlrange="-0.349 2.094" />
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</default>
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<default class="thumb_axl">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-0.349 2.094" />
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<position ctrlrange="-0.349 2.094" />
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</default>
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<default class="thumb_mcp">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-0.47 2.443" />
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<position ctrlrange="-0.47 2.443" />
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</default>
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<default class="thumb_ipl">
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<joint pos="0 0 0" axis="0 0 -1"
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limited="true" range="-1.34 1.88" />
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<position ctrlrange="-1.34 1.88" />
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</default>
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</default>
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<!-- collision filtering -->
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<contact>
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<!-- filter the palm from all other finger bodies except the tips -->
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<exclude body1="palm" body2="if_bs" />
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<exclude body1="palm" body2="mf_bs" />
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<exclude body1="palm" body2="rf_bs" />
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<exclude body1="palm" body2="th_mp" />
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<exclude body1="palm" body2="if_px" />
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<exclude body1="palm" body2="mf_px" />
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<exclude body1="palm" body2="rf_px" />
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<exclude body1="palm" body2="th_bs" />
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<exclude body1="palm" body2="if_md" />
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<exclude body1="palm" body2="mf_md" />
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<exclude body1="palm" body2="rf_md" />
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<exclude body1="palm" body2="th_px" />
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<!-- none of the base fingertip geoms can touch each other -->
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<exclude body1="if_bs" body2="mf_bs" />
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<exclude body1="if_bs" body2="rf_bs" />
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<exclude body1="mf_bs" body2="rf_bs" />
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<exclude body1="th_mp" body2="if_bs" />
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<exclude body1="th_mp" body2="mf_bs" />
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<exclude body1="th_mp" body2="rf_bs" />
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</contact>
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<!-- actuators -->
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<actuator>
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<!-- index -->
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<position name="if_mcp_act" joint="if_mcp" class="mcp" />
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<position name="if_rot_act" joint="if_rot" class="rot" />
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<position name="if_pip_act" joint="if_pip" class="pip" />
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<position name="if_dip_act" joint="if_dip" class="dip" />
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<!-- middle -->
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<position name="mf_mcp_act" joint="mf_mcp" class="mcp" />
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<position name="mf_rot_act" joint="mf_rot" class="rot" />
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<position name="mf_pip_act" joint="mf_pip" class="pip" />
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<position name="mf_dip_act" joint="mf_dip" class="dip" />
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<!-- ring -->
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<position name="rf_mcp_act" joint="rf_mcp" class="mcp" />
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<position name="rf_rot_act" joint="rf_rot" class="rot" />
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<position name="rf_pip_act" joint="rf_pip" class="pip" />
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<position name="rf_dip_act" joint="rf_dip" class="dip" />
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<!-- thumb -->
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<position name="th_cmc_act" joint="th_cmc" class="thumb_cmc" />
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<position name="th_axl_act" joint="th_axl" class="thumb_axl" />
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<position name="th_mcp_act" joint="th_mcp" class="thumb_mcp" />
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<position name="th_ipl_act" joint="th_ipl" class="thumb_ipl" />
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</actuator>
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<!-- sensors -->
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<sensor>
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<!-- index -->
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<jointpos name="if_mcp_sensor" joint="if_mcp" />
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<jointpos name="if_rot_sensor" joint="if_rot" />
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<jointpos name="if_pip_sensor" joint="if_pip" />
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<jointpos name="if_dip_sensor" joint="if_dip" />
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<!-- middle -->
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<jointpos name="mf_mcp_sensor" joint="mf_mcp" />
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<jointpos name="mf_rot_sensor" joint="mf_rot" />
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<jointpos name="mf_pip_sensor" joint="mf_pip" />
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<jointpos name="mf_dip_sensor" joint="mf_dip" />
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<!-- ring -->
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<jointpos name="rf_mcp_sensor" joint="rf_mcp" />
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<jointpos name="rf_rot_sensor" joint="rf_rot" />
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<jointpos name="rf_pip_sensor" joint="rf_pip" />
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<jointpos name="rf_dip_sensor" joint="rf_dip" />
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<!-- thumb -->
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<jointpos name="th_cmc_sensor" joint="th_cmc" />
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<jointpos name="th_axl_sensor" joint="th_axl" />
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<jointpos name="th_mcp_sensor" joint="th_mcp" />
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<jointpos name="th_ipl_sensor" joint="th_ipl" />
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</sensor>
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<worldbody>
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<body name="palm" pos="0 0 0.1" quat="0 1 0 0">
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<!-- palm -->
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<inertial pos="-0.049542 -0.042914 -0.010227" quat="0.565586 0.427629 -0.574956 0.408254" mass="0.237" diaginertia="0.000407345 0.000304759 0.000180736"/>
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<geom name="palm_visual" pos="-0.02 0.02575 -0.0347" quat="1 0 0 0" class="visual" mesh="palm"/>
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<geom name="palm_collision_1" size="0.011 0.013 0.017" pos="-0.009 0.008 -0.011" type="box"/>
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<geom name="palm_collision_2" size="0.011 0.013 0.017" pos="-0.009 -0.037 -0.011" type="box"/>
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<geom name="palm_collision_3" size="0.011 0.013 0.017" pos="-0.009 -0.082 -0.011" type="box"/>
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<geom name="palm_collision_4" size="0.029 0.01 0.023" pos="-0.066 -0.078 -0.0115" quat="0.989016 0 0 -0.147806" type="box"/>
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<geom name="palm_collision_5" size="0.01 0.06 0.015" pos="-0.03 -0.035 -0.003" type="box"/>
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<geom name="palm_collision_6" size="0.005 0.06 0.01" pos="-0.032 -0.035 -0.024" quat="0.923956 0 0.382499 0" type="box"/>
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<geom name="palm_collision_7" size="0.012 0.058 0.023" pos="-0.048 -0.033 -0.0115" type="box"/>
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<geom name="palm_collision_8" size="0.022 0.026 0.023" pos="-0.078 -0.053 -0.0115" type="box"/>
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<geom name="palm_collision_9" size="0.002 0.018 0.017" pos="-0.098 -0.009 -0.006" type="box"/>
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<geom name="palm_collision_10" size="0.022 0.028 0.002" pos="-0.078 -0.003 0.01" type="box"/>
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<!-- index -->
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<body name="if_bs" pos="-0.007 0.023 -0.0187" quat="0.500003 0.5 0.5 -0.499997">
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<inertial pos="-0.022516 0.033882 0.016359" quat="0.388092 0.677951 -0.247713 0.573067" mass="0.044" diaginertia="1.74972e-05 1.61504e-05 7.21342e-06"/>
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<joint name="if_mcp" class="mcp"/>
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<geom name="if_bs_visual" pos="0.0084 0.0077 0.01465" quat="1 0 0 0" class="visual" mesh="base"/>
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<geom name="if_bs_collision_1" size="0.01 0.003 0.017" pos="0 0.018 0.0147" type="box"/>
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<geom name="if_bs_collision_2" size="0.014 0.02 0.01" pos="-0.027 0.042 0.015" type="box"/>
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<geom name="if_bs_collision_3" size="0.017 0.003 0.01" pos="-0.0262 0.02 0.0146" type="box"/>
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<geom name="if_bs_collision_4" size="0.01 0.012 0.004" pos="-0.0295 0.035 0.029" type="box"/>
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<geom name="if_bs_collision_5" size="0.007 0.01 0.002" pos="0 0.005 0.03" type="box"/>
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<geom name="if_bs_collision_6" size="0.007 0.01 0.002" pos="0 0.005 -0.001" type="box"/>
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<body name="if_px" pos="-0.0122 0.0381 0.0145" quat="0.500003 -0.5 -0.499997 0.5">
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<inertial pos="0.0075 -0.0002 -0.011" quat="0 0.707107 0 0.707107" mass="0.032" diaginertia="4.8853e-06 4.3733e-06 3.0933e-06"/>
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<joint name="if_rot" class="rot"/>
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<geom name="if_px_visual" pos="0.0096 0.0002 0.0007" quat="0.500003 -0.5 -0.5 -0.499997" class="visual" mesh="proximal"/>
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<geom name="if_px_collision" size="0.017 0.013 0.011" pos="0.0075 -0.0002 -0.011" type="box"/>
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<body name="if_md" pos="0.015 0.0143 -0.013" quat="0.500003 0.5 -0.5 0.499997">
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<inertial pos="0.0054215 -0.029148 0.015" quat="0.687228 0.687228 0.166487 0.166487" mass="0.037" diaginertia="8.28004e-06 8.1598e-06 5.39516e-06"/>
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<joint name="if_pip" class="pip"/>
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<geom name="if_md_visual" pos="0.0211 -0.0084 0.0097" quat="2.67949e-08 -1 0 0" class="visual" mesh="medial"/>
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<geom name="if_md_collision_1" size="0.008 0.003 0.013" pos="0 -0.02 0.015" type="box"/>
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<geom name="if_md_collision_2" size="0.01 0.002 0.017" pos="0 -0.016 0.015" type="box"/>
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<geom name="if_md_collision_3" size="0.007 0.01 0.002" pos="0 -0.0045 0.03" type="box"/>
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<geom name="if_md_collision_4" size="0.007 0.01 0.002" pos="0 -0.0045 0" type="box"/>
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<geom name="if_md_collision_5" size="0.017 0.011 0.013" pos="0.0075 -0.035 0.015" type="box"/>
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<body name="if_ds" pos="0 -0.0361 0.0002">
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<inertial pos="-0.0008794 -0.027019 0.014594" quat="0.702905 0.710643 -0.0212937 -0.0214203" mass="0.016" diaginertia="3.71863e-06 3.02396e-06 1.6518e-06"/>
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<joint name="if_dip" class="dip"/>
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<geom name="if_ds_visual" pos="0.0132 -0.0061 0.0144" quat="2.67949e-08 1 0 0" class="visual" mesh="distal"/>
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<geom name="if_ds_collision_1" size="0.01 0.003 0.015" pos="0 -0.017 0.015" type="box"/>
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<geom name="if_ds_collision_2" size="0.007 0.011 0.002" pos="0 -0.006 0.03" type="box"/>
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<geom name="if_ds_collision_3" size="0.007 0.011 0.002" pos="0 -0.006 -0.001" type="box"/>
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<geom name="if_tip" class="tip"/>
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</body>
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</body>
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</body>
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</body> <!-- index -->
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<!-- middle -->
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<body name="mf_bs" pos="-0.0071 -0.0224 -0.0187" quat="0.500003 0.5 0.5 -0.499997">
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<inertial pos="-0.022516 0.033882 0.016359" quat="0.388092 0.677951 -0.247713 0.573067" mass="0.044" diaginertia="1.74972e-05 1.61504e-05 7.21342e-06"/>
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<joint name="mf_mcp" class="mcp"/>
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<geom name="mf_bs_visual" pos="0.0084 0.0077 0.01465" quat="1 0 0 0" class="visual" mesh="base"/>
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<geom name="mf_bs_collision_1" size="0.01 0.003 0.017" pos="0 0.018 0.0147" type="box"/>
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<geom name="mf_bs_collision_2" size="0.014 0.02 0.01" pos="-0.027 0.042 0.015" type="box"/>
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<geom name="mf_bs_collision_3" size="0.017 0.003 0.01" pos="-0.0262 0.02 0.0146" type="box"/>
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<geom name="mf_bs_collision_4" size="0.01 0.012 0.004" pos="-0.0295 0.035 0.029" type="box"/>
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<geom name="mf_bs_collision_5" size="0.007 0.01 0.002" pos="0 0.005 0.03" type="box"/>
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<geom name="mf_bs_collision_6" size="0.007 0.01 0.002" pos="0 0.005 -0.001" type="box"/>
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<body name="mf_px" pos="-0.0122 0.0381 0.0145" quat="0.500003 -0.5 -0.499997 0.5">
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<inertial pos="0.0075 -0.0002 -0.011" quat="0 0.707107 0 0.707107" mass="0.032" diaginertia="4.8853e-06 4.3733e-06 3.0933e-06"/>
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<joint name="mf_rot" class="rot"/>
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<geom name="mf_px_visual" pos="0.0096 0.0003 0.0007" quat="0.500003 -0.5 -0.5 -0.499997" class="visual" mesh="proximal"/>
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<geom name="mf_px_collision" size="0.017 0.013 0.011" pos="0.0075 -0.0002 -0.011" type="box"/>
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<body name="mf_md" pos="0.015 0.0143 -0.013" quat="0.500003 0.5 -0.5 0.499997">
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<inertial pos="0.0054215 -0.029148 0.015" quat="0.687228 0.687228 0.166487 0.166487" mass="0.037" diaginertia="8.28004e-06 8.1598e-06 5.39516e-06"/>
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<joint name="mf_pip" class="pip"/>
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<geom name="mf_md_visual" pos="0.0211 -0.0084 0.0097" quat="1.32679e-06 -1 0 0" class="visual" mesh="medial"/>
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<geom name="mf_md_collision_1" size="0.008 0.003 0.013" pos="0 -0.02 0.015" type="box"/>
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<geom name="mf_md_collision_2" size="0.01 0.002 0.017" pos="0 -0.016 0.015" type="box"/>
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<geom name="mf_md_collision_3" size="0.007 0.01 0.002" pos="0 -0.0045 0.03" type="box"/>
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<geom name="mf_md_collision_4" size="0.007 0.01 0.002" pos="0 -0.0045 0" type="box"/>
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<geom name="mf_md_collision_5" size="0.017 0.011 0.013" pos="0.0075 -0.035 0.015" type="box"/>
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<body name="mf_ds" pos="0 -0.0361 0.0002">
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<inertial pos="-0.0008794 -0.027019 0.014594" quat="0.702905 0.710643 -0.0212937 -0.0214203" mass="0.016" diaginertia="3.71863e-06 3.02396e-06 1.6518e-06"/>
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<joint name="mf_dip" class="dip"/>
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<geom name="mf_ds_visual" pos="0.0132 -0.0061 0.0145" quat="1.32679e-06 1 0 0" class="visual" mesh="distal"/>
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<geom name="mf_ds_collision_1" size="0.01 0.003 0.015" pos="0 -0.017 0.015" type="box"/>
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<geom name="mf_ds_collision_2" size="0.007 0.011 0.002" pos="0 -0.006 0.03" type="box"/>
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<geom name="mf_ds_collision_3" size="0.007 0.011 0.002" pos="0 -0.006 -0.001" type="box"/>
|
|
|
|
<geom name="mf_tip" class="tip"/>
|
|
</body>
|
|
|
|
</body>
|
|
</body>
|
|
</body> <!-- middle -->
|
|
|
|
<!-- ring -->
|
|
<body name="rf_bs" pos="-0.00709 -0.0678 -0.0187" quat="0.500003 0.5 0.5 -0.499997">
|
|
<inertial pos="-0.022516 0.033882 0.016359" quat="0.388092 0.677951 -0.247713 0.573067" mass="0.044" diaginertia="1.74972e-05 1.61504e-05 7.21342e-06"/>
|
|
<joint name="rf_mcp" class="mcp"/>
|
|
<geom name="rf_bs_visual" pos="0.0084 0.0077 0.01465" quat="1 0 0 0" class="visual" mesh="base"/>
|
|
<geom name="rf_bs_collision_1" size="0.01 0.003 0.017" pos="0 0.018 0.0147" type="box"/>
|
|
<geom name="rf_bs_collision_2" size="0.014 0.02 0.01" pos="-0.027 0.042 0.015" type="box"/>
|
|
<geom name="rf_bs_collision_3" size="0.017 0.003 0.01" pos="-0.0262 0.02 0.0146" type="box"/>
|
|
<geom name="rf_bs_collision_4" size="0.01 0.012 0.004" pos="-0.0295 0.035 0.029" type="box"/>
|
|
<geom name="rf_bs_collision_5" size="0.007 0.01 0.002" pos="0 0.005 0.03" type="box"/>
|
|
<geom name="rf_bs_collision_6" size="0.007 0.01 0.002" pos="0 0.005 -0.001" type="box"/>
|
|
|
|
<body name="rf_px" pos="-0.0122 0.0381 0.0145" quat="0.500003 -0.5 -0.499997 0.5">
|
|
<inertial pos="0.0075 -0.0002 -0.011" quat="0 0.707107 0 0.707107" mass="0.032" diaginertia="4.8853e-06 4.3733e-06 3.0933e-06"/>
|
|
<joint name="rf_rot" class="rot"/>
|
|
<geom name="rf_px_visual" pos="0.0096 0.0003 0.0007" quat="0.500003 -0.5 -0.5 -0.499997" class="visual" mesh="proximal"/>
|
|
<geom name="rf_px_collision" size="0.017 0.013 0.011" pos="0.0075 -0.0002 -0.011" type="box"/>
|
|
|
|
<body name="rf_md" pos="0.015 0.0143 -0.013" quat="0.500003 0.5 -0.5 0.499997">
|
|
<inertial pos="0.0054215 -0.029148 0.015" quat="0.687228 0.687228 0.166487 0.166487" mass="0.037" diaginertia="8.28004e-06 8.1598e-06 5.39516e-06"/>
|
|
<joint name="rf_pip" class="pip"/>
|
|
<geom name="rf_md_visual" pos="0.0211 -0.0084 0.0097" quat="1.32679e-06 -1 0 0" class="visual" mesh="medial"/>
|
|
<geom name="rf_md_collision_1" size="0.008 0.003 0.013" pos="0 -0.02 0.015" type="box"/>
|
|
<geom name="rf_md_collision_2" size="0.01 0.002 0.017" pos="0 -0.016 0.015" type="box"/>
|
|
<geom name="rf_md_collision_3" size="0.007 0.01 0.002" pos="0 -0.0045 0.03" type="box"/>
|
|
<geom name="rf_md_collision_4" size="0.007 0.01 0.002" pos="0 -0.0045 0" type="box"/>
|
|
<geom name="rf_md_collision_5" size="0.017 0.011 0.013" pos="0.0075 -0.035 0.015" type="box"/>
|
|
|
|
<body name="rf_ds" pos="0 -0.03609 0.0002">
|
|
<inertial pos="-0.0008794 -0.027019 0.014594" quat="0.702905 0.710643 -0.0212937 -0.0214203" mass="0.016" diaginertia="3.71863e-06 3.02396e-06 1.6518e-06"/>
|
|
<joint name="rf_dip" class="dip"/>
|
|
<geom name="rf_ds_visual" pos="0.0132 -0.0061 0.0145" quat="1.32679e-06 1 0 0" class="visual" mesh="distal"/>
|
|
<geom name="rf_ds_collision_1" size="0.01 0.003 0.015" pos="0 -0.017 0.015" type="box"/>
|
|
<geom name="rf_ds_collision_2" size="0.007 0.011 0.002" pos="0 -0.006 0.03" type="box"/>
|
|
<geom name="rf_ds_collision_3" size="0.007 0.011 0.002" pos="0 -0.006 -0.001" type="box"/>
|
|
|
|
<geom name="rf_tip" class="tip"/>
|
|
</body>
|
|
|
|
</body>
|
|
</body>
|
|
</body> <!-- ring -->
|
|
|
|
<!-- thumb -->
|
|
<body name="th_mp" pos="-0.0693 -0.0012 -0.0216" quat="0.707109 0 0.707105 0">
|
|
<inertial pos="0.0075 -0.0002 -0.011" quat="0 0.707107 0 0.707107" mass="0.032" diaginertia="4.8853e-06 4.3733e-06 3.0933e-06"/>
|
|
<joint name="th_cmc" class="thumb_cmc"/>
|
|
<geom name="th_mp_visual" pos="-0.0053 0.0003 0.00078" quat="0.500003 -0.5 -0.5 -0.499997" class="visual" mesh="proximal"/>
|
|
<geom name="th_mp_collision" size="0.017 0.013 0.011" pos="-0.0075 -0.0002 -0.011" type="box"/>
|
|
|
|
<body name="th_bs" pos="0 0.0143 -0.013" quat="0.500003 0.5 -0.5 0.499997">
|
|
<inertial pos="0 0 -0.0070806" quat="0.707107 0.707107 0 0" mass="0.003" diaginertia="6.1932e-07 5.351e-07 2.1516e-07"/>
|
|
<joint name="th_axl" class="thumb_axl"/>
|
|
<geom name="th_bs_visual" pos="0.01196 0 -0.0158" quat="0.707109 0.707105 0 0" class="visual" mesh="thumb_base"/>
|
|
<geom name="th_bs_collision_1" size="0.009 0.0165 0.002" pos="0 0 -0.0015" type="box"/>
|
|
<geom name="th_bs_collision_2" size="0.007 0.002 0.01" pos="0 -0.015 -0.013" type="box"/>
|
|
<geom name="th_bs_collision_3" size="0.007 0.002 0.01" pos="0 0.015 -0.013" type="box"/>
|
|
|
|
<body name="th_px" pos="0 0.0145 -0.017" quat="0.707109 -0.707105 0 0">
|
|
<inertial pos="-0.0020593 0.015912 -0.013733" quat="0.698518 0.697382 -0.104933 0.121324" mass="0.038" diaginertia="9.87104e-06 9.32653e-06 4.36203e-06"/>
|
|
<joint name="th_mcp" class="thumb_mcp"/>
|
|
<geom name="th_px_visual" pos="0.0439 0.0579 -0.0086" quat="1 0 0 0" class="visual" mesh="thumb_proximal"/>
|
|
<geom name="th_px_collision_1" size="0.01 0.02 0.012" pos="0 0.0105 -0.014" type="box"/>
|
|
<geom name="th_px_collision_2" size="0.01 0.002 0.016" pos="0 0.031 -0.015" type="box"/>
|
|
<geom name="th_px_collision_3" size="0.007 0.01 0.002" pos="0 0.042 0.001" type="box"/>
|
|
<geom name="th_px_collision_4" size="0.007 0.01 0.002" pos="0 0.042 -0.029" type="box"/>
|
|
<geom name="th_px_collision_5" size="0.005 0.012 0.009" pos="-0.0135 0.0175 -0.011656" type="box"/>
|
|
|
|
<body name="th_ds" pos="0 0.0466 0.0002" quat="1.32679e-06 0 0 1">
|
|
<inertial pos="0.00096191 -0.024203 -0.014419" quat="0.35287 0.311272 -0.632839 0.614904" mass="0.049" diaginertia="2.08591e-05 2.0402e-05 4.71335e-06"/>
|
|
<joint name="th_ipl" class="thumb_ipl"/>
|
|
<geom name="th_ds_visual" pos="0.0625 0.0784 0.0489" quat="1 0 0 0" class="visual" mesh="thumb_distal"/>
|
|
<geom name="th_ds_collision_1" size="0.01 0.018 0.012" pos="0 -0.0085 -0.015" type="box"/>
|
|
<geom name="th_ds_collision_2" size="0.01 0.002 0.015" pos="0 -0.029 -0.014" type="box"/>
|
|
<geom name="th_ds_collision_3" size="0.004 0.012 0.009" pos="0.015 -0.0175 -0.0115" type="box"/>
|
|
|
|
<geom name="th_tip" class="thumb_tip"/>
|
|
</body>
|
|
|
|
</body>
|
|
</body>
|
|
</body> <!-- thumb -->
|
|
|
|
</body> <!-- palm -->
|
|
</worldbody>
|
|
</mujoco>
|