jc-bao commited on
Commit ·
ad2606a
1
Parent(s): 5b9a50b
:zap: add exp log
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- processed/gigahand/ability/bimanual/complete_data.csv +16 -4
- processed/gigahand/ability/bimanual/p36-tea/0/config.yaml +91 -0
- processed/gigahand/ability/bimanual/p36-tea/{10 → 0}/trajectory_ikrollout.npz +2 -2
- processed/gigahand/ability/bimanual/{p52-instrument/34 → p36-tea/0}/trajectory_kinematic.npz +2 -2
- processed/gigahand/{allegro/bimanual/p52-instrument/34 → ability/bimanual/p36-tea/0}/trajectory_mjwp.npz +2 -2
- processed/gigahand/ability/bimanual/{p52-instrument/34 → p36-tea/0}/visualization_ik.mp4 +2 -2
- processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p36-tea/0}/visualization_mjwp.mp4 +2 -2
- processed/gigahand/ability/bimanual/p36-tea/1/config.yaml +92 -0
- processed/gigahand/ability/bimanual/p36-tea/{10 → 1}/trajectory_kinematic.npz +2 -2
- processed/gigahand/{inspire/bimanual/p36-tea/10 → ability/bimanual/p36-tea/1}/trajectory_mjwp.npz +2 -2
- processed/gigahand/ability/bimanual/p36-tea/1/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p36-tea/10/visualization_mjwpeq.mp4 +0 -3
- processed/gigahand/ability/bimanual/p36-tea/2/config.yaml +92 -0
- processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p36-tea/2}/trajectory_kinematic.npz +2 -2
- processed/gigahand/ability/bimanual/p36-tea/2/trajectory_mjwp.npz +3 -0
- processed/gigahand/ability/bimanual/p36-tea/2/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p36-tea/3/config.yaml +92 -0
- processed/gigahand/{allegro/bimanual/p52-instrument/34 → ability/bimanual/p36-tea/3}/trajectory_kinematic.npz +2 -2
- processed/gigahand/ability/bimanual/p36-tea/3/trajectory_mjwp.npz +3 -0
- processed/gigahand/ability/bimanual/p36-tea/3/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p36-tea/4/config.yaml +92 -0
- processed/gigahand/ability/bimanual/p36-tea/4/trajectory_kinematic.npz +3 -0
- processed/gigahand/ability/bimanual/p36-tea/4/trajectory_mjwp.npz +3 -0
- processed/gigahand/ability/bimanual/p36-tea/4/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p36-tea/scene.xml +354 -68
- processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml +354 -68
- processed/gigahand/ability/bimanual/p44-dog/0/config.yaml +91 -0
- processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p44-dog/0}/trajectory_ikrollout.npz +2 -2
- processed/gigahand/ability/bimanual/p44-dog/0/trajectory_kinematic.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/0/trajectory_mjwp.npz +3 -0
- processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p44-dog/0}/visualization_ik.mp4 +2 -2
- processed/gigahand/ability/bimanual/p44-dog/0/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p44-dog/1/config.yaml +92 -0
- processed/gigahand/ability/bimanual/p44-dog/1/trajectory_kinematic.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/1/trajectory_mjwp.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/1/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p44-dog/2/config.yaml +92 -0
- processed/gigahand/ability/bimanual/p44-dog/2/trajectory_kinematic.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/2/trajectory_mjwp.npz +3 -0
- processed/gigahand/{inspire/bimanual/p52-instrument/34 → ability/bimanual/p44-dog/2}/visualization_mjwp.mp4 +2 -2
- processed/gigahand/ability/bimanual/p44-dog/3/config.yaml +92 -0
- processed/gigahand/ability/bimanual/p44-dog/3/trajectory_kinematic.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/3/trajectory_mjwp.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/3/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p44-dog/4/config.yaml +92 -0
- processed/gigahand/ability/bimanual/p44-dog/4/trajectory_kinematic.npz +2 -2
- processed/gigahand/ability/bimanual/p44-dog/4/trajectory_mjwp.npz +3 -0
- processed/gigahand/ability/bimanual/p44-dog/4/visualization_mjwp.mp4 +3 -0
- processed/gigahand/ability/bimanual/p44-dog/scene.xml +74 -68
- processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml +74 -68
processed/gigahand/ability/bimanual/complete_data.csv
CHANGED
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dataset,robot_type,
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gigahand,ability,bimanual,
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gigahand,ability,bimanual,
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gigahand,ability,bimanual,
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dataset,robot_type,embodiment_type,data_type,task,data_id,directory,obj_pos_err,obj_quat_err,obj_pos_err_right,obj_pos_err_left,obj_quat_err_right,obj_quat_err_left,success,pos_err_threshold,quat_err_threshold
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gigahand,ability,bimanual,mjwp,p52-instrument,0,p52-instrument/0,0.06160137345151179,0.4800783822317556,0.06160137345151179,4.129497576344562e-06,0.4800783822317556,4.688679791976053e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p52-instrument,1,p52-instrument/1,0.08435144088172283,0.5338086819189651,0.08435144088172283,4.129497842267527e-06,0.5338086819189651,4.6886875399594533e-05,False,0.1,0.5
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+
gigahand,ability,bimanual,mjwp,p52-instrument,2,p52-instrument/2,0.10809850966868402,0.5580383074732377,0.10809850966868402,4.129497576344562e-06,0.5580383074732377,4.688682197822037e-05,False,0.1,0.5
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gigahand,ability,bimanual,mjwp,p52-instrument,3,p52-instrument/3,0.11229489353840937,0.5714313796434585,0.11229489353840937,4.129497576344562e-06,0.5714313796434585,4.688676881741752e-05,False,0.1,0.5
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gigahand,ability,bimanual,mjwp,p52-instrument,4,p52-instrument/4,0.10529128215430276,0.5650893413108171,0.10529128215430276,4.129497576344562e-06,0.5650893413108171,4.688679680077263e-05,False,0.1,0.5
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gigahand,ability,bimanual,mjwp,p36-tea,0,p36-tea/0,0.022232589202832564,0.37231060615019484,0.022232589202832564,1.815753726605349e-06,0.37231060615019484,4.7573493691648055e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p36-tea,1,p36-tea/1,0.04295795503357343,0.3643977925629861,0.04295795503357343,1.815753726605349e-06,0.3643977925629861,4.7573482443249975e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p36-tea,2,p36-tea/2,0.030673984621369797,0.3633095070254317,0.030673984621369797,1.815753726605349e-06,0.3633095070254317,4.757349369240832e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p36-tea,3,p36-tea/3,0.040544063667348425,0.390486674487006,0.040544063667348425,1.815753726605349e-06,0.390486674487006,4.757349088163903e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p36-tea,4,p36-tea/4,0.04792290950818242,0.3668645136267032,0.04792290950818242,1.815753726605349e-06,0.3668645136267032,4.75734965031777e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p44-dog,0,p44-dog/0,0.023511624560574727,0.11203919097904615,0.023511624560574727,3.0779486260743074e-06,0.11203919097904615,1.3141459027358721e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p44-dog,1,p44-dog/1,0.018959282935188174,0.11344748370884424,0.018959282935188174,3.0779486260743074e-06,0.11344748370884424,1.3141458411841801e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p44-dog,2,p44-dog/2,0.01992300131417354,0.11310508448008957,0.01992300131417354,3.0779486260743074e-06,0.11310508448008957,1.3141458411841801e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p44-dog,3,p44-dog/3,0.027088313884012092,0.11533992451251943,0.027088313884012092,3.0779486260743074e-06,0.11533992451251943,1.3141458411841801e-05,True,0.1,0.5
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gigahand,ability,bimanual,mjwp,p44-dog,4,p44-dog/4,0.030166909330491987,0.12953463295360873,0.030166909330491987,3.0779486260743074e-06,0.12953463295360873,1.3141458411841801e-05,True,0.1,0.5
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processed/gigahand/ability/bimanual/p36-tea/0/config.yaml
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robot_type: ability
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embodiment_type: bimanual
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task: p36-tea
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dataset_dir: example_datasets
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dataset_name: gigahand
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data_id: 0
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model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/../scene.xml
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data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0/trajectory_kinematic.npz
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simulator: mjwp
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device: cuda:0
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sim_dt: 0.01
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ctrl_dt: 0.4
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ref_dt: 0.02
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render_dt: 0.02
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horizon: 1.6
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knot_dt: 0.4
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max_sim_steps: 676
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nconmax_per_env: 100
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njmax_per_env: 320
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num_dyn: 1
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num_dr: 1
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pair_margin_range:
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- -0.005
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- 0.005
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xy_offset_range:
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- -0.005
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- 0.005
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perturb_force: 0.0
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perturb_torque: 0.0
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num_samples: 1024
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temperature: 1.0
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max_num_iterations: 32
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improvement_threshold: 0.01
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improvement_check_steps: 1
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terminate_resample: false
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object_pos_threshold: 0.1
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object_rot_threshold: 0.3
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base_pos_threshold: 0.5
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base_rot_threshold: 0.4
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use_torch_compile: true
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first_ctrl_noise_scale: 0.5
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last_ctrl_noise_scale: 1.0
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final_noise_scale: 0.1
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exploit_ratio: 0.01
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exploit_noise_scale: 0.01
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joint_noise_scale: 0.03
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pos_noise_scale: 0.03
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rot_noise_scale: 0.01
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base_pos_rew_scale: 0.1
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base_rot_rew_scale: 0.03
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joint_rew_scale: 0.003
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pos_rew_scale: 1.0
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rot_rew_scale: 0.3
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vel_rew_scale: 0.0001
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terminal_rew_scale: 1.0
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contact_rew_scale: 0.0
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show_viewer: true
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viewer: mujoco-rerun
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rerun_spawn: true
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save_video: true
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save_info: true
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save_rerun: false
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save_metrics: true
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save_config: true
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trace_dt: 0.02
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num_trace_uniform_samples: 4
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num_trace_topk_samples: 2
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trace_site_ids:
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- 33
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horizon_steps: 160
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knot_steps: 40
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ref_steps: 2
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ctrl_steps: 40
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nq_obj: 14
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nq: 46
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nv: 44
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nu: 32
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npair: 660
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beta_traj: 0.930572040929699
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output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/0
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processed/gigahand/ability/bimanual/p36-tea/{10 → 0}/trajectory_ikrollout.npz
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size 124646
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processed/gigahand/ability/bimanual/{p52-instrument/34 → p36-tea/0}/trajectory_kinematic.npz
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size 586860
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processed/gigahand/{allegro/bimanual/p52-instrument/34 → ability/bimanual/p36-tea/0}/trajectory_mjwp.npz
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size 721574
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processed/gigahand/ability/bimanual/{p52-instrument/34 → p36-tea/0}/visualization_ik.mp4
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size 257416
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processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p36-tea/0}/visualization_mjwp.mp4
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size 1309307
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processed/gigahand/ability/bimanual/p36-tea/1/config.yaml
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|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p36-tea
|
| 4 |
+
seed: 1
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 1
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/1/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/1/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 676
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 660
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/1
|
processed/gigahand/ability/bimanual/p36-tea/{10 → 1}/trajectory_kinematic.npz
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:851174abc552601d10948cadf876ae7177ba31500bcfd618645bc32bae870211
|
| 3 |
+
size 586860
|
processed/gigahand/{inspire/bimanual/p36-tea/10 → ability/bimanual/p36-tea/1}/trajectory_mjwp.npz
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1d2373417623f02c6b1e1fe529c5896375ff655347328dd744bbe25ef75452fa
|
| 3 |
+
size 721574
|
processed/gigahand/ability/bimanual/p36-tea/1/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:cce016c2284746905ea5b6cfa5fcb70d8adceb8093baced6ec8bb32b61347688
|
| 3 |
+
size 1229667
|
processed/gigahand/ability/bimanual/p36-tea/10/visualization_mjwpeq.mp4
DELETED
|
@@ -1,3 +0,0 @@
|
|
| 1 |
-
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:4a70885410491378d63c273d89972f9fffb1dcc76363622dbd3de3985d3630f6
|
| 3 |
-
size 741620
|
|
|
|
|
|
|
|
|
|
|
|
processed/gigahand/ability/bimanual/p36-tea/2/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
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|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p36-tea
|
| 4 |
+
seed: 2
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 2
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/2/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/2/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 676
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 660
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/2
|
processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p36-tea/2}/trajectory_kinematic.npz
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:851174abc552601d10948cadf876ae7177ba31500bcfd618645bc32bae870211
|
| 3 |
+
size 586860
|
processed/gigahand/ability/bimanual/p36-tea/2/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37c2e2c8c5763c37350b17626a1c3675c7613db563d9f84558b6f6539e0fd3c4
|
| 3 |
+
size 721574
|
processed/gigahand/ability/bimanual/p36-tea/2/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5abefbf3e02f765cc3f66481998085c3a9e7f26963eaeddd8d38335ca62bff68
|
| 3 |
+
size 1235144
|
processed/gigahand/ability/bimanual/p36-tea/3/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p36-tea
|
| 4 |
+
seed: 3
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 3
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/3/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/3/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 676
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 660
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/3
|
processed/gigahand/{allegro/bimanual/p52-instrument/34 → ability/bimanual/p36-tea/3}/trajectory_kinematic.npz
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
-
size
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
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size 586860
|
processed/gigahand/ability/bimanual/p36-tea/3/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
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version https://git-lfs.github.com/spec/v1
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|
| 3 |
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size 721574
|
processed/gigahand/ability/bimanual/p36-tea/3/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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|
| 3 |
+
size 1256593
|
processed/gigahand/ability/bimanual/p36-tea/4/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p36-tea
|
| 4 |
+
seed: 4
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 4
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/4/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/4/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 676
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 660
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p36-tea/4
|
processed/gigahand/ability/bimanual/p36-tea/4/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:851174abc552601d10948cadf876ae7177ba31500bcfd618645bc32bae870211
|
| 3 |
+
size 586860
|
processed/gigahand/ability/bimanual/p36-tea/4/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:05dfd6895e63a51f9bfb429054361bb7e5caa1be53127a1e247a34ac48aac449
|
| 3 |
+
size 721574
|
processed/gigahand/ability/bimanual/p36-tea/4/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:459a968ac1a231761d63707ece79e8bb204e355a5b1d9753058c28214a7b9d64
|
| 3 |
+
size 1215766
|
processed/gigahand/ability/bimanual/p36-tea/scene.xml
CHANGED
|
@@ -4,13 +4,19 @@
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
-
<site
|
| 8 |
-
<general biastype="affine" gainprm="
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 9 |
</default>
|
| 10 |
|
| 11 |
<asset>
|
| 12 |
-
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="
|
| 13 |
-
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="
|
| 14 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 15 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 16 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
@@ -40,12 +46,20 @@
|
|
| 40 |
<mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
|
| 41 |
<mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
|
| 42 |
<mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 43 |
<mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
|
| 44 |
<mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
|
| 45 |
<mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
|
| 46 |
<mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
|
| 47 |
<mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
|
| 48 |
<mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
|
|
|
|
|
|
|
| 49 |
<mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
|
| 50 |
</asset>
|
| 51 |
|
|
@@ -89,10 +103,10 @@
|
|
| 89 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 90 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 91 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 92 |
-
<geom name="collision_hand_right_thumb_0" size="0.007 0.
|
| 93 |
-
<site name="right_thumb_tip" pos="0.
|
| 94 |
-
<site name="track_hand_right_thumb_tip" pos="0.
|
| 95 |
-
<site name="trace_hand_right_thumb_tip" pos="0.
|
| 96 |
</body>
|
| 97 |
</body>
|
| 98 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
@@ -112,9 +126,9 @@
|
|
| 112 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 113 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 114 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 115 |
-
<site name="right_index_tip" pos="0.
|
| 116 |
-
<site name="track_hand_right_index_tip" pos="0.
|
| 117 |
-
<site name="trace_hand_right_index_tip" pos="0.
|
| 118 |
</body>
|
| 119 |
</body>
|
| 120 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
@@ -134,9 +148,9 @@
|
|
| 134 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 135 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 136 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 137 |
-
<site name="right_middle_tip" pos="0.
|
| 138 |
-
<site name="track_hand_right_middle_tip" pos="0.
|
| 139 |
-
<site name="trace_hand_right_middle_tip" pos="0.
|
| 140 |
</body>
|
| 141 |
</body>
|
| 142 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
@@ -156,9 +170,9 @@
|
|
| 156 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 157 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 158 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 159 |
-
<site name="right_ring_tip" pos="0.
|
| 160 |
-
<site name="track_hand_right_ring_tip" pos="0.
|
| 161 |
-
<site name="trace_hand_right_ring_tip" pos="0.
|
| 162 |
</body>
|
| 163 |
</body>
|
| 164 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
@@ -178,9 +192,9 @@
|
|
| 178 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 179 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 180 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 181 |
-
<site name="right_pinky_tip" pos="0.
|
| 182 |
-
<site name="track_hand_right_pinky_tip" pos="0.
|
| 183 |
-
<site name="trace_hand_right_pinky_tip" pos="0.
|
| 184 |
</body>
|
| 185 |
</body>
|
| 186 |
</body>
|
|
@@ -225,10 +239,10 @@
|
|
| 225 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 226 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 227 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 228 |
-
<geom name="collision_hand_left_thumb_0" size="0.007 0.
|
| 229 |
-
<site name="left_thumb_tip" pos="0.
|
| 230 |
-
<site name="track_hand_left_thumb_tip" pos="0.
|
| 231 |
-
<site name="trace_hand_left_thumb_tip" pos="0.
|
| 232 |
</body>
|
| 233 |
</body>
|
| 234 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
@@ -248,9 +262,9 @@
|
|
| 248 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 249 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 250 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 251 |
-
<site name="left_index_tip" pos="0.
|
| 252 |
-
<site name="track_hand_left_index_tip" pos="0.
|
| 253 |
-
<site name="trace_hand_left_index_tip" pos="0.
|
| 254 |
</body>
|
| 255 |
</body>
|
| 256 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
@@ -270,9 +284,9 @@
|
|
| 270 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 271 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 272 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 273 |
-
<site name="left_middle_tip" pos="0.
|
| 274 |
-
<site name="track_hand_left_middle_tip" pos="0.
|
| 275 |
-
<site name="trace_hand_left_middle_tip" pos="0.
|
| 276 |
</body>
|
| 277 |
</body>
|
| 278 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
@@ -292,9 +306,9 @@
|
|
| 292 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 293 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 294 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 295 |
-
<site name="left_ring_tip" pos="0.
|
| 296 |
-
<site name="track_hand_left_ring_tip" pos="0.
|
| 297 |
-
<site name="trace_hand_left_ring_tip" pos="0.
|
| 298 |
</body>
|
| 299 |
</body>
|
| 300 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
@@ -314,9 +328,9 @@
|
|
| 314 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 315 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 316 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 317 |
-
<site name="left_pinky_tip" pos="0.
|
| 318 |
-
<site name="track_hand_left_pinky_tip" pos="0.
|
| 319 |
-
<site name="trace_hand_left_pinky_tip" pos="0.
|
| 320 |
</body>
|
| 321 |
</body>
|
| 322 |
</body>
|
|
@@ -327,27 +341,35 @@
|
|
| 327 |
</body>
|
| 328 |
<body name="right_object">
|
| 329 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 330 |
-
<geom name="right_object_0" type="mesh" group="3" density="
|
| 331 |
-
<geom name="right_object_1" type="mesh" group="3" density="
|
| 332 |
-
<geom name="
|
| 333 |
-
<geom name="
|
| 334 |
-
<geom name="
|
| 335 |
-
<geom name="
|
| 336 |
-
<geom name="
|
| 337 |
-
<geom name="
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 338 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 339 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 340 |
-
<site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 341 |
-
<site name="track_object_right_thumb_tip" pos="0.
|
| 342 |
-
<site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
|
| 343 |
-
<site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
|
| 344 |
-
<site name="track_object_right_ring_tip" pos="-0.
|
| 345 |
-
<site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 346 |
-
<site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
|
| 347 |
-
<site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
|
| 348 |
-
<site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
|
| 349 |
-
<site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
|
| 350 |
-
<site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
|
| 351 |
</body>
|
| 352 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 353 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -383,7 +405,7 @@
|
|
| 383 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 384 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 385 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 386 |
-
<site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 387 |
</body>
|
| 388 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 389 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -420,12 +442,20 @@
|
|
| 420 |
<contact>
|
| 421 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 422 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 423 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 424 |
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 425 |
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 426 |
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 427 |
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 428 |
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 429 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 430 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 431 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
|
@@ -455,6 +485,24 @@
|
|
| 455 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 456 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 457 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
|
|
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|
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|
| 458 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 459 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 460 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
@@ -473,6 +521,12 @@
|
|
| 473 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 474 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 475 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
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|
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|
|
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|
|
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|
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|
|
|
|
| 476 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 477 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 478 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
|
@@ -491,12 +545,20 @@
|
|
| 491 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 492 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 493 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
|
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|
| 494 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 495 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 496 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 497 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 498 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 499 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 500 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 501 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 502 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
|
@@ -505,12 +567,20 @@
|
|
| 505 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 506 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 507 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
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|
| 508 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 509 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 510 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 511 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 512 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 513 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
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|
| 514 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 515 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 516 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
|
@@ -528,12 +598,20 @@
|
|
| 528 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 529 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 530 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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|
| 531 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 532 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 533 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 534 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 535 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 536 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 537 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 538 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 539 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
|
@@ -542,12 +620,20 @@
|
|
| 542 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 543 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 544 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
|
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|
| 545 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 546 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 547 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 548 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 549 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 550 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
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|
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| 551 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 552 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 553 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
|
@@ -564,12 +650,20 @@
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|
| 564 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 565 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 566 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
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| 567 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 568 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 569 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 570 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 571 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 572 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
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|
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| 573 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 574 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 575 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
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@@ -578,12 +672,20 @@
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|
| 578 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 579 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 580 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
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| 581 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 582 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 583 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 584 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 585 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 586 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
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|
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|
| 587 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 588 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 589 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
|
@@ -599,12 +701,20 @@
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|
| 599 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 600 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 601 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
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| 602 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 603 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 604 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 605 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 606 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 607 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
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|
| 608 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 609 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 610 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
|
@@ -613,12 +723,20 @@
|
|
| 613 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 614 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 615 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 616 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 617 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 618 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 619 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 620 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 621 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
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|
| 622 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 623 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
| 624 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
|
|
@@ -633,12 +751,20 @@
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|
| 633 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 634 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 635 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
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| 636 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 637 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 638 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 639 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 640 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 641 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
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|
| 642 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
|
| 643 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
|
| 644 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
|
@@ -650,6 +776,24 @@
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|
| 650 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 651 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 652 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 653 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 654 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 655 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
@@ -668,10 +812,28 @@
|
|
| 668 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 669 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 670 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
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| 671 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 672 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 673 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 674 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 675 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 676 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 677 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
|
@@ -684,6 +846,10 @@
|
|
| 684 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 685 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 686 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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| 687 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
|
| 688 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 689 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
|
@@ -692,6 +858,18 @@
|
|
| 692 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 693 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 694 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 695 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 696 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 697 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
|
@@ -704,6 +882,10 @@
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|
| 704 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 705 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 706 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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|
| 707 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 708 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 709 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
|
@@ -716,6 +898,42 @@
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|
| 716 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 717 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 718 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 719 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 720 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 721 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
|
@@ -752,77 +970,145 @@
|
|
| 752 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 753 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 754 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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| 755 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 756 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 757 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 758 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 759 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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|
| 760 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 761 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 762 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 763 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 764 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 765 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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|
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|
|
| 766 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 767 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 768 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 769 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 770 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 771 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 772 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 773 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
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|
|
|
|
| 774 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 775 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 776 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 777 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
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|
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|
|
| 778 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 779 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 780 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 781 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 782 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 783 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 784 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 785 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
|
| 786 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 787 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 788 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 789 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 790 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 791 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 792 |
<pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 793 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 794 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
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|
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|
| 795 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 796 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 797 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 798 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 799 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 800 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 801 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 802 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
|
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|
|
|
|
| 803 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 804 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 805 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 806 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 807 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 808 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 809 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 810 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 811 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 812 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 813 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 814 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 815 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 816 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 817 |
</contact>
|
| 818 |
|
| 819 |
<actuator>
|
| 820 |
-
<general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 821 |
-
<general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 822 |
-
<general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 823 |
-
<general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 824 |
-
<general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 825 |
-
<general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 826 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 827 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 828 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
@@ -833,12 +1119,12 @@
|
|
| 833 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 834 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 835 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 836 |
-
<general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 837 |
-
<general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 838 |
-
<general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 839 |
-
<general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 840 |
-
<general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 841 |
-
<general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 842 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 843 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 844 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
+
<site group="3" rgba="1 0 0 1"/>
|
| 8 |
+
<general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
|
| 9 |
+
<default class="right_base">
|
| 10 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 11 |
+
</default>
|
| 12 |
+
<default class="left_base">
|
| 13 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 14 |
+
</default>
|
| 15 |
</default>
|
| 16 |
|
| 17 |
<asset>
|
| 18 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
|
| 19 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
|
| 20 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 21 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 22 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
|
|
| 46 |
<mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
|
| 47 |
<mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
|
| 48 |
<mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
|
| 49 |
+
<mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
|
| 50 |
+
<mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
|
| 51 |
+
<mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
|
| 52 |
+
<mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
|
| 53 |
+
<mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
|
| 54 |
+
<mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
|
| 55 |
<mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
|
| 56 |
<mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
|
| 57 |
<mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
|
| 58 |
<mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
|
| 59 |
<mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
|
| 60 |
<mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
|
| 61 |
+
<mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
|
| 62 |
+
<mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
|
| 63 |
<mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
|
| 64 |
</asset>
|
| 65 |
|
|
|
|
| 103 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 104 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 105 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 106 |
+
<geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 107 |
+
<site name="right_thumb_tip" pos="0.059 0.025 0"/>
|
| 108 |
+
<site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 109 |
+
<site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 110 |
</body>
|
| 111 |
</body>
|
| 112 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
|
|
| 126 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 127 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 128 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 129 |
+
<site name="right_index_tip" pos="0.025 -0.022 0"/>
|
| 130 |
+
<site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 131 |
+
<site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 132 |
</body>
|
| 133 |
</body>
|
| 134 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
|
|
| 148 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 149 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 150 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 151 |
+
<site name="right_middle_tip" pos="0.025 -0.022 0"/>
|
| 152 |
+
<site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 153 |
+
<site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 154 |
</body>
|
| 155 |
</body>
|
| 156 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
|
|
| 170 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 171 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 172 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 173 |
+
<site name="right_ring_tip" pos="0.025 -0.022 0"/>
|
| 174 |
+
<site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 175 |
+
<site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 176 |
</body>
|
| 177 |
</body>
|
| 178 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
|
|
| 192 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 193 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 194 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 195 |
+
<site name="right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 196 |
+
<site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 197 |
+
<site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 198 |
</body>
|
| 199 |
</body>
|
| 200 |
</body>
|
|
|
|
| 239 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 240 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 241 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 242 |
+
<geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 243 |
+
<site name="left_thumb_tip" pos="0.059 0.025 0"/>
|
| 244 |
+
<site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 245 |
+
<site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 246 |
</body>
|
| 247 |
</body>
|
| 248 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
|
|
| 262 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 263 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 264 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 265 |
+
<site name="left_index_tip" pos="0.025 -0.022 0"/>
|
| 266 |
+
<site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 267 |
+
<site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 268 |
</body>
|
| 269 |
</body>
|
| 270 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
|
|
| 284 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 285 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 286 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 287 |
+
<site name="left_middle_tip" pos="0.025 -0.022 0"/>
|
| 288 |
+
<site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 289 |
+
<site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 290 |
</body>
|
| 291 |
</body>
|
| 292 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
|
|
| 306 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 307 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 308 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 309 |
+
<site name="left_ring_tip" pos="0.025 -0.022 0"/>
|
| 310 |
+
<site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 311 |
+
<site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 312 |
</body>
|
| 313 |
</body>
|
| 314 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
|
|
| 328 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 329 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 330 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 331 |
+
<site name="left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 332 |
+
<site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 333 |
+
<site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 334 |
</body>
|
| 335 |
</body>
|
| 336 |
</body>
|
|
|
|
| 341 |
</body>
|
| 342 |
<body name="right_object">
|
| 343 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 344 |
+
<geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
|
| 345 |
+
<geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
|
| 346 |
+
<geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
|
| 347 |
+
<geom name="right_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
|
| 348 |
+
<geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
|
| 349 |
+
<geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
|
| 350 |
+
<geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
|
| 351 |
+
<geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
|
| 352 |
+
<geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
|
| 353 |
+
<geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
|
| 354 |
+
<geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
|
| 355 |
+
<geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
|
| 356 |
+
<geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
|
| 357 |
+
<geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
|
| 358 |
+
<geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
|
| 359 |
+
<geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
|
| 360 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 361 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 362 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 363 |
+
<site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 364 |
+
<site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 365 |
+
<site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 366 |
+
<site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 367 |
+
<site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 368 |
+
<site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 369 |
+
<site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 370 |
+
<site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 371 |
+
<site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 372 |
+
<site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 373 |
</body>
|
| 374 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 375 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 405 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 406 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 407 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 408 |
+
<site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 409 |
</body>
|
| 410 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 411 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 442 |
<contact>
|
| 443 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 444 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 445 |
+
<pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
|
| 446 |
+
<pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
|
| 447 |
+
<pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
|
| 448 |
+
<pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
|
| 449 |
+
<pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
|
| 450 |
+
<pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
|
| 451 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 452 |
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 453 |
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 454 |
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 455 |
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 456 |
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 457 |
+
<pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
|
| 458 |
+
<pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
|
| 459 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 460 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 461 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 485 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 486 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 487 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 488 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 489 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 490 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
|
| 491 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 492 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_11" name="collision_hand_right_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 493 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_11" name="collision_hand_right_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
|
| 494 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 495 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_12" name="collision_hand_right_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 496 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_12" name="collision_hand_right_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
|
| 497 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 498 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_13" name="collision_hand_right_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 499 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_13" name="collision_hand_right_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
|
| 500 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 501 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_14" name="collision_hand_right_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 502 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_14" name="collision_hand_right_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
|
| 503 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 504 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_15" name="collision_hand_right_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 505 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_15" name="collision_hand_right_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
|
| 506 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 507 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 508 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
|
|
| 521 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 522 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 523 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 524 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 525 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 526 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
|
| 527 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 528 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 529 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
|
| 530 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 531 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 532 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 545 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 546 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 547 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 548 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 549 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 550 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 551 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 552 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 553 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 554 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 555 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 556 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 557 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 558 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 559 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 560 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 561 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 562 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 563 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 564 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 567 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 568 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 569 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 570 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 571 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 572 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 573 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 574 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 575 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 576 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 577 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 578 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 579 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 580 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 581 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 582 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 583 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 584 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 585 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 586 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 598 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 599 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 600 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 601 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 602 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 603 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 604 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 605 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 606 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 607 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 608 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 609 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 610 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 611 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 612 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 613 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 614 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 615 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 616 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 617 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 620 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 621 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 622 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 623 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 624 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 625 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 626 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 627 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 628 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 629 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 630 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 631 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 632 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 633 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 634 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 635 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 636 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 637 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 638 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 639 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 650 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 651 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 652 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 653 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 654 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 655 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 656 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 657 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 658 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 659 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 660 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 661 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 662 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 663 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 664 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 665 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 666 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 667 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 668 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 669 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 672 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 673 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 674 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 675 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 676 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 677 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 678 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 679 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 680 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 681 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 682 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 683 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 684 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 685 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 686 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 687 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 688 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 689 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 690 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 691 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 701 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 702 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 703 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 704 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 705 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 706 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 707 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 708 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 709 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 710 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 711 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 712 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 713 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 714 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 715 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 716 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 717 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 718 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 719 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 720 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 723 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 724 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 725 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 726 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 727 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 728 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 729 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 730 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 731 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 732 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 733 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 734 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 735 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 736 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 737 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 738 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 739 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 740 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 741 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
| 742 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 751 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 752 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 753 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 754 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 755 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 756 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 757 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 758 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 759 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 760 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 761 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 762 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 763 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 764 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 765 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 766 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 767 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 768 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
|
| 769 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
|
| 770 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 776 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 777 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 778 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 779 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 780 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 781 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
|
| 782 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 783 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 784 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
|
| 785 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 786 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 787 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
|
| 788 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 789 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 790 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
|
| 791 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 792 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 793 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
|
| 794 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 795 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 796 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
|
| 797 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 798 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 799 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
|
|
| 812 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 813 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 814 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 815 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 816 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 817 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
|
| 818 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 819 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 820 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
|
| 821 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 822 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 823 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 824 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 825 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 826 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 827 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 828 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_11" name="collision_hand_left_thumb_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 829 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 830 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_12" name="collision_hand_left_thumb_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 831 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 832 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_13" name="collision_hand_left_thumb_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 833 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 834 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_14" name="collision_hand_left_thumb_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 835 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 836 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_15" name="collision_hand_left_thumb_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 837 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 838 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 839 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 846 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 847 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 848 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 849 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 850 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 851 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 852 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 853 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
|
| 854 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 855 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 858 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 859 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 860 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 861 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 862 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 863 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 864 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 865 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 866 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 867 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 868 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 869 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 870 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 871 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 872 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 873 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 874 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 875 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 882 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 883 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 884 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 885 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 886 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 887 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 888 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 889 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 890 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 891 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 898 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 899 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 900 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 901 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 902 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 903 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 904 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 905 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 906 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 907 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 908 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_11" name="collision_hand_left_index_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 909 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_11" name="collision_hand_left_index_4_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 910 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_11" name="collision_hand_left_index_5_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 911 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_11" name="collision_hand_left_index_6_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 912 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 913 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 914 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_12" name="collision_hand_left_index_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 915 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_12" name="collision_hand_left_index_4_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 916 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_12" name="collision_hand_left_index_5_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 917 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_12" name="collision_hand_left_index_6_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 918 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 919 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 920 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_13" name="collision_hand_left_index_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 921 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_13" name="collision_hand_left_index_4_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 922 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_13" name="collision_hand_left_index_5_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 923 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_13" name="collision_hand_left_index_6_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 924 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 925 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 926 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_14" name="collision_hand_left_index_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 927 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_14" name="collision_hand_left_index_4_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 928 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_14" name="collision_hand_left_index_5_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 929 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_14" name="collision_hand_left_index_6_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 930 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 931 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 932 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_15" name="collision_hand_left_index_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 933 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_15" name="collision_hand_left_index_4_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 934 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_15" name="collision_hand_left_index_5_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 935 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_15" name="collision_hand_left_index_6_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 936 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 937 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 938 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 939 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 970 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 971 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 972 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 973 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 974 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 975 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 976 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 977 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 978 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 979 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 980 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 981 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 982 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 983 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 984 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 985 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 986 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 987 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 988 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 989 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 990 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 991 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 992 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 993 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 994 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 995 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 996 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 997 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 998 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 999 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 1000 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 1001 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 1002 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 1003 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 1004 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1005 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1006 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1007 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1008 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1009 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1010 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1011 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1012 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1013 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1014 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1015 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1016 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1017 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1018 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1019 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1020 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 1021 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 1022 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1023 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1024 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1025 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1026 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1027 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1028 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1029 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1030 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1031 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1032 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1033 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1034 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1035 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1036 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1037 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1038 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1039 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1040 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1041 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1042 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1043 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1044 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1045 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1046 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1047 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1048 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1049 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1050 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1051 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1052 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1053 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1054 |
<pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 1055 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1056 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1057 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1058 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1059 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1060 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1061 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1062 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1063 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1064 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1065 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1066 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1067 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1068 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1069 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1070 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1071 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1072 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1073 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1074 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1075 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1076 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1077 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1078 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1079 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1080 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1081 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1082 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1083 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1084 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1085 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1086 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1087 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1088 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1089 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1090 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1091 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1092 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1093 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1094 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1095 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1096 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1097 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1098 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1099 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1100 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1101 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1102 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1103 |
</contact>
|
| 1104 |
|
| 1105 |
<actuator>
|
| 1106 |
+
<general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 1107 |
+
<general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 1108 |
+
<general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 1109 |
+
<general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1110 |
+
<general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1111 |
+
<general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1112 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 1113 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 1114 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 1119 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 1120 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 1121 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 1122 |
+
<general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 1123 |
+
<general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 1124 |
+
<general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 1125 |
+
<general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1126 |
+
<general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1127 |
+
<general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1128 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 1129 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 1130 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
processed/gigahand/ability/bimanual/p36-tea/scene_eq.xml
CHANGED
|
@@ -4,13 +4,19 @@
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
-
<site
|
| 8 |
-
<general biastype="affine" gainprm="
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 9 |
</default>
|
| 10 |
|
| 11 |
<asset>
|
| 12 |
-
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="
|
| 13 |
-
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="
|
| 14 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 15 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 16 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
@@ -40,12 +46,20 @@
|
|
| 40 |
<mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
|
| 41 |
<mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
|
| 42 |
<mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 43 |
<mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
|
| 44 |
<mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
|
| 45 |
<mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
|
| 46 |
<mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
|
| 47 |
<mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
|
| 48 |
<mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
|
|
|
|
|
|
|
| 49 |
<mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
|
| 50 |
</asset>
|
| 51 |
|
|
@@ -89,10 +103,10 @@
|
|
| 89 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 90 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 91 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 92 |
-
<geom name="collision_hand_right_thumb_0" size="0.007 0.
|
| 93 |
-
<site name="right_thumb_tip" pos="0.
|
| 94 |
-
<site name="track_hand_right_thumb_tip" pos="0.
|
| 95 |
-
<site name="trace_hand_right_thumb_tip" pos="0.
|
| 96 |
</body>
|
| 97 |
</body>
|
| 98 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
@@ -112,9 +126,9 @@
|
|
| 112 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 113 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 114 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 115 |
-
<site name="right_index_tip" pos="0.
|
| 116 |
-
<site name="track_hand_right_index_tip" pos="0.
|
| 117 |
-
<site name="trace_hand_right_index_tip" pos="0.
|
| 118 |
</body>
|
| 119 |
</body>
|
| 120 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
@@ -134,9 +148,9 @@
|
|
| 134 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 135 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 136 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 137 |
-
<site name="right_middle_tip" pos="0.
|
| 138 |
-
<site name="track_hand_right_middle_tip" pos="0.
|
| 139 |
-
<site name="trace_hand_right_middle_tip" pos="0.
|
| 140 |
</body>
|
| 141 |
</body>
|
| 142 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
@@ -156,9 +170,9 @@
|
|
| 156 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 157 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 158 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 159 |
-
<site name="right_ring_tip" pos="0.
|
| 160 |
-
<site name="track_hand_right_ring_tip" pos="0.
|
| 161 |
-
<site name="trace_hand_right_ring_tip" pos="0.
|
| 162 |
</body>
|
| 163 |
</body>
|
| 164 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
@@ -178,9 +192,9 @@
|
|
| 178 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 179 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 180 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 181 |
-
<site name="right_pinky_tip" pos="0.
|
| 182 |
-
<site name="track_hand_right_pinky_tip" pos="0.
|
| 183 |
-
<site name="trace_hand_right_pinky_tip" pos="0.
|
| 184 |
</body>
|
| 185 |
</body>
|
| 186 |
</body>
|
|
@@ -225,10 +239,10 @@
|
|
| 225 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 226 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 227 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 228 |
-
<geom name="collision_hand_left_thumb_0" size="0.007 0.
|
| 229 |
-
<site name="left_thumb_tip" pos="0.
|
| 230 |
-
<site name="track_hand_left_thumb_tip" pos="0.
|
| 231 |
-
<site name="trace_hand_left_thumb_tip" pos="0.
|
| 232 |
</body>
|
| 233 |
</body>
|
| 234 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
@@ -248,9 +262,9 @@
|
|
| 248 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 249 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 250 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 251 |
-
<site name="left_index_tip" pos="0.
|
| 252 |
-
<site name="track_hand_left_index_tip" pos="0.
|
| 253 |
-
<site name="trace_hand_left_index_tip" pos="0.
|
| 254 |
</body>
|
| 255 |
</body>
|
| 256 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
@@ -270,9 +284,9 @@
|
|
| 270 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 271 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 272 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 273 |
-
<site name="left_middle_tip" pos="0.
|
| 274 |
-
<site name="track_hand_left_middle_tip" pos="0.
|
| 275 |
-
<site name="trace_hand_left_middle_tip" pos="0.
|
| 276 |
</body>
|
| 277 |
</body>
|
| 278 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
@@ -292,9 +306,9 @@
|
|
| 292 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 293 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 294 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 295 |
-
<site name="left_ring_tip" pos="0.
|
| 296 |
-
<site name="track_hand_left_ring_tip" pos="0.
|
| 297 |
-
<site name="trace_hand_left_ring_tip" pos="0.
|
| 298 |
</body>
|
| 299 |
</body>
|
| 300 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
@@ -314,9 +328,9 @@
|
|
| 314 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 315 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 316 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 317 |
-
<site name="left_pinky_tip" pos="0.
|
| 318 |
-
<site name="track_hand_left_pinky_tip" pos="0.
|
| 319 |
-
<site name="trace_hand_left_pinky_tip" pos="0.
|
| 320 |
</body>
|
| 321 |
</body>
|
| 322 |
</body>
|
|
@@ -327,27 +341,35 @@
|
|
| 327 |
</body>
|
| 328 |
<body name="right_object">
|
| 329 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 330 |
-
<geom name="right_object_0" type="mesh" group="3" density="
|
| 331 |
-
<geom name="right_object_1" type="mesh" group="3" density="
|
| 332 |
-
<geom name="
|
| 333 |
-
<geom name="
|
| 334 |
-
<geom name="
|
| 335 |
-
<geom name="
|
| 336 |
-
<geom name="
|
| 337 |
-
<geom name="
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 338 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 339 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 340 |
-
<site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 341 |
-
<site name="track_object_right_thumb_tip" pos="0.
|
| 342 |
-
<site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" group="4" rgba="0 1 0 1"/>
|
| 343 |
-
<site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" group="4" rgba="0 1 0 1"/>
|
| 344 |
-
<site name="track_object_right_ring_tip" pos="-0.
|
| 345 |
-
<site name="track_object_right_pinky_tip" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 346 |
-
<site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" group="4" rgba="0 1 0 1"/>
|
| 347 |
-
<site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" group="4" rgba="0 1 0 1"/>
|
| 348 |
-
<site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" group="4" rgba="0 1 0 1"/>
|
| 349 |
-
<site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" group="4" rgba="0 1 0 1"/>
|
| 350 |
-
<site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" group="4" rgba="0 1 0 1"/>
|
| 351 |
</body>
|
| 352 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 353 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -383,7 +405,7 @@
|
|
| 383 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 384 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 385 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 386 |
-
<site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 387 |
</body>
|
| 388 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 389 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -420,12 +442,20 @@
|
|
| 420 |
<contact>
|
| 421 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 422 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 423 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 424 |
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 425 |
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 426 |
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 427 |
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 428 |
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 429 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 430 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 431 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
|
@@ -455,6 +485,24 @@
|
|
| 455 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 456 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 457 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 458 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 459 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 460 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
@@ -473,6 +521,12 @@
|
|
| 473 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 474 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 475 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 476 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 477 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 478 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
|
@@ -491,12 +545,20 @@
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|
| 491 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 492 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 493 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 494 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 495 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 496 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 497 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 498 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 499 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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|
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| 500 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 501 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 502 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
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@@ -505,12 +567,20 @@
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|
| 505 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 506 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 507 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 508 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 509 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 510 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 511 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 512 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 513 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
|
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|
| 514 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 515 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 516 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
|
@@ -528,12 +598,20 @@
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|
| 528 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 529 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 530 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 531 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 532 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 533 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 534 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 535 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 536 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
|
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|
|
|
|
| 537 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 538 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 539 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
|
@@ -542,12 +620,20 @@
|
|
| 542 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 543 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 544 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 545 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 546 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 547 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 548 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 549 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 550 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 551 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 552 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 553 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
|
@@ -564,12 +650,20 @@
|
|
| 564 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 565 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 566 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
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|
| 567 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 568 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 569 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 570 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 571 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 572 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 573 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 574 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 575 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
|
@@ -578,12 +672,20 @@
|
|
| 578 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 579 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 580 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
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|
|
|
| 581 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 582 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 583 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 584 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 585 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 586 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 587 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 588 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 589 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
|
@@ -599,12 +701,20 @@
|
|
| 599 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 600 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 601 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 602 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 603 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 604 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 605 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 606 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 607 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 608 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 609 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 610 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
|
@@ -613,12 +723,20 @@
|
|
| 613 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 614 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 615 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
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|
|
| 616 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 617 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 618 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 619 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 620 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 621 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 622 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 623 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
| 624 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
|
|
@@ -633,12 +751,20 @@
|
|
| 633 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 634 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 635 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
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|
| 636 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 637 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 638 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 639 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 640 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 641 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
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| 642 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
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| 643 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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| 644 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
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@@ -650,6 +776,24 @@
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| 650 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
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| 651 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
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| 652 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
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| 653 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
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| 654 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
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| 655 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
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@@ -668,10 +812,28 @@
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| 668 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
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| 669 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
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| 670 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
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| 671 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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| 672 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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| 673 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 674 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 675 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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| 676 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
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| 677 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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@@ -684,6 +846,10 @@
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| 684 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
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| 685 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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| 686 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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| 687 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
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| 688 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 689 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
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@@ -692,6 +858,18 @@
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| 692 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
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| 693 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 694 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 695 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 696 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 697 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
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@@ -704,6 +882,10 @@
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|
| 704 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 705 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 706 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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|
| 707 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 708 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 709 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
|
@@ -716,6 +898,42 @@
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|
| 716 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 717 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 718 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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| 719 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 720 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 721 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
|
@@ -752,68 +970,136 @@
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|
| 752 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 753 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 754 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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|
| 755 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 756 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 757 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 758 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 759 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
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|
| 760 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 761 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 762 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 763 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 764 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 765 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
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|
| 766 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 767 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 768 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 769 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 770 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 771 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 772 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 773 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
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|
| 774 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 775 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 776 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 777 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 778 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 779 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 780 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 781 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 782 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 783 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
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|
| 784 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 785 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 786 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 787 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 788 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 789 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 790 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 791 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
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|
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|
| 792 |
<pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 793 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 794 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 795 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 796 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 797 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 798 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 799 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 800 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
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|
| 801 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 802 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
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|
| 803 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 804 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 805 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 806 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 807 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 808 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 809 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 810 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 811 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 812 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 813 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 814 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 815 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 816 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
|
|
|
|
|
|
| 817 |
</contact>
|
| 818 |
|
| 819 |
<equality>
|
|
@@ -840,12 +1126,12 @@
|
|
| 840 |
</equality>
|
| 841 |
|
| 842 |
<actuator>
|
| 843 |
-
<general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 844 |
-
<general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 845 |
-
<general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 846 |
-
<general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 847 |
-
<general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 848 |
-
<general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 849 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 850 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 851 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
@@ -856,12 +1142,12 @@
|
|
| 856 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 857 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 858 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 859 |
-
<general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 860 |
-
<general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 861 |
-
<general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 862 |
-
<general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 863 |
-
<general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 864 |
-
<general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 865 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 866 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 867 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
+
<site group="3" rgba="1 0 0 1"/>
|
| 8 |
+
<general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
|
| 9 |
+
<default class="right_base">
|
| 10 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 11 |
+
</default>
|
| 12 |
+
<default class="left_base">
|
| 13 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 14 |
+
</default>
|
| 15 |
</default>
|
| 16 |
|
| 17 |
<asset>
|
| 18 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
|
| 19 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
|
| 20 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 21 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 22 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
|
|
| 46 |
<mesh name="left_idx-F2_C" file="robots/ability/assets/idx-F2_C.obj"/>
|
| 47 |
<mesh name="right_0" file="objects/p36-tea/convex/0.obj"/>
|
| 48 |
<mesh name="right_1" file="objects/p36-tea/convex/1.obj"/>
|
| 49 |
+
<mesh name="right_10" file="objects/p36-tea/convex/10.obj"/>
|
| 50 |
+
<mesh name="right_11" file="objects/p36-tea/convex/11.obj"/>
|
| 51 |
+
<mesh name="right_12" file="objects/p36-tea/convex/12.obj"/>
|
| 52 |
+
<mesh name="right_13" file="objects/p36-tea/convex/13.obj"/>
|
| 53 |
+
<mesh name="right_14" file="objects/p36-tea/convex/14.obj"/>
|
| 54 |
+
<mesh name="right_15" file="objects/p36-tea/convex/15.obj"/>
|
| 55 |
<mesh name="right_2" file="objects/p36-tea/convex/2.obj"/>
|
| 56 |
<mesh name="right_3" file="objects/p36-tea/convex/3.obj"/>
|
| 57 |
<mesh name="right_4" file="objects/p36-tea/convex/4.obj"/>
|
| 58 |
<mesh name="right_5" file="objects/p36-tea/convex/5.obj"/>
|
| 59 |
<mesh name="right_6" file="objects/p36-tea/convex/6.obj"/>
|
| 60 |
<mesh name="right_7" file="objects/p36-tea/convex/7.obj"/>
|
| 61 |
+
<mesh name="right_8" file="objects/p36-tea/convex/8.obj"/>
|
| 62 |
+
<mesh name="right_9" file="objects/p36-tea/convex/9.obj"/>
|
| 63 |
<mesh name="right_visual" file="objects/p36-tea/visual.obj"/>
|
| 64 |
</asset>
|
| 65 |
|
|
|
|
| 103 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 104 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 105 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 106 |
+
<geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 107 |
+
<site name="right_thumb_tip" pos="0.059 0.025 0"/>
|
| 108 |
+
<site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 109 |
+
<site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 110 |
</body>
|
| 111 |
</body>
|
| 112 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
|
|
| 126 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 127 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 128 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 129 |
+
<site name="right_index_tip" pos="0.025 -0.022 0"/>
|
| 130 |
+
<site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 131 |
+
<site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 132 |
</body>
|
| 133 |
</body>
|
| 134 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
|
|
| 148 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 149 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 150 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 151 |
+
<site name="right_middle_tip" pos="0.025 -0.022 0"/>
|
| 152 |
+
<site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 153 |
+
<site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 154 |
</body>
|
| 155 |
</body>
|
| 156 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
|
|
| 170 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 171 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 172 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 173 |
+
<site name="right_ring_tip" pos="0.025 -0.022 0"/>
|
| 174 |
+
<site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 175 |
+
<site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 176 |
</body>
|
| 177 |
</body>
|
| 178 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
|
|
| 192 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 193 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 194 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 195 |
+
<site name="right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 196 |
+
<site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 197 |
+
<site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 198 |
</body>
|
| 199 |
</body>
|
| 200 |
</body>
|
|
|
|
| 239 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 240 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 241 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 242 |
+
<geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 243 |
+
<site name="left_thumb_tip" pos="0.059 0.025 0"/>
|
| 244 |
+
<site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 245 |
+
<site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 246 |
</body>
|
| 247 |
</body>
|
| 248 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
|
|
| 262 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 263 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 264 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 265 |
+
<site name="left_index_tip" pos="0.025 -0.022 0"/>
|
| 266 |
+
<site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 267 |
+
<site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 268 |
</body>
|
| 269 |
</body>
|
| 270 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
|
|
| 284 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 285 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 286 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 287 |
+
<site name="left_middle_tip" pos="0.025 -0.022 0"/>
|
| 288 |
+
<site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 289 |
+
<site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 290 |
</body>
|
| 291 |
</body>
|
| 292 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
|
|
| 306 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 307 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 308 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 309 |
+
<site name="left_ring_tip" pos="0.025 -0.022 0"/>
|
| 310 |
+
<site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 311 |
+
<site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 312 |
</body>
|
| 313 |
</body>
|
| 314 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
|
|
| 328 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 329 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 330 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 331 |
+
<site name="left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 332 |
+
<site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 333 |
+
<site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 334 |
</body>
|
| 335 |
</body>
|
| 336 |
</body>
|
|
|
|
| 341 |
</body>
|
| 342 |
<body name="right_object">
|
| 343 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 344 |
+
<geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
|
| 345 |
+
<geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
|
| 346 |
+
<geom name="right_object_10" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_10"/>
|
| 347 |
+
<geom name="right_object_11" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_11"/>
|
| 348 |
+
<geom name="right_object_12" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_12"/>
|
| 349 |
+
<geom name="right_object_13" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_13"/>
|
| 350 |
+
<geom name="right_object_14" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_14"/>
|
| 351 |
+
<geom name="right_object_15" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_15"/>
|
| 352 |
+
<geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
|
| 353 |
+
<geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
|
| 354 |
+
<geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
|
| 355 |
+
<geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
|
| 356 |
+
<geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
|
| 357 |
+
<geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
|
| 358 |
+
<geom name="right_object_8" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_8"/>
|
| 359 |
+
<geom name="right_object_9" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_9"/>
|
| 360 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 361 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 362 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 363 |
+
<site name="track_object_right_thumb_tip" pos="0.00187915 0.081854 -0.0269697" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 364 |
+
<site name="track_object_right_index_tip" pos="0.00825662 0.0844147 0.00363573" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 365 |
+
<site name="track_object_right_middle_tip" pos="-0.0103129 0.078582 0.0104305" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 366 |
+
<site name="track_object_right_ring_tip" pos="-0.0291784 0.0791531 0.00562098" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 367 |
+
<site name="track_object_right_pinky_tip" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 368 |
+
<site name="track_object_left_thumb_tip" pos="0.0832338 0.0529036 -0.0709373" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 369 |
+
<site name="track_object_left_index_tip" pos="0.0874807 0.0215535 -0.0809543" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 370 |
+
<site name="track_object_left_middle_tip" pos="0.0912316 0.000951486 -0.0880665" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 371 |
+
<site name="track_object_left_ring_tip" pos="0.0930287 -0.0140268 -0.0849209" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 372 |
+
<site name="track_object_left_pinky_tip" pos="0.0885036 -0.0240373 -0.0792298" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 373 |
</body>
|
| 374 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 375 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 405 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 406 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 407 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 408 |
+
<site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 409 |
</body>
|
| 410 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 411 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 442 |
<contact>
|
| 443 |
<pair geom1="floor" geom2="right_object_0" name="floor_right_object_0" friction="1 1 0.1 0 0"/>
|
| 444 |
<pair geom1="floor" geom2="right_object_1" name="floor_right_object_1" friction="1 1 0.1 0 0"/>
|
| 445 |
+
<pair geom1="floor" geom2="right_object_10" name="floor_right_object_10" friction="1 1 0.1 0 0"/>
|
| 446 |
+
<pair geom1="floor" geom2="right_object_11" name="floor_right_object_11" friction="1 1 0.1 0 0"/>
|
| 447 |
+
<pair geom1="floor" geom2="right_object_12" name="floor_right_object_12" friction="1 1 0.1 0 0"/>
|
| 448 |
+
<pair geom1="floor" geom2="right_object_13" name="floor_right_object_13" friction="1 1 0.1 0 0"/>
|
| 449 |
+
<pair geom1="floor" geom2="right_object_14" name="floor_right_object_14" friction="1 1 0.1 0 0"/>
|
| 450 |
+
<pair geom1="floor" geom2="right_object_15" name="floor_right_object_15" friction="1 1 0.1 0 0"/>
|
| 451 |
<pair geom1="floor" geom2="right_object_2" name="floor_right_object_2" friction="1 1 0.1 0 0"/>
|
| 452 |
<pair geom1="floor" geom2="right_object_3" name="floor_right_object_3" friction="1 1 0.1 0 0"/>
|
| 453 |
<pair geom1="floor" geom2="right_object_4" name="floor_right_object_4" friction="1 1 0.1 0 0"/>
|
| 454 |
<pair geom1="floor" geom2="right_object_5" name="floor_right_object_5" friction="1 1 0.1 0 0"/>
|
| 455 |
<pair geom1="floor" geom2="right_object_6" name="floor_right_object_6" friction="1 1 0.1 0 0"/>
|
| 456 |
<pair geom1="floor" geom2="right_object_7" name="floor_right_object_7" friction="1 1 0.1 0 0"/>
|
| 457 |
+
<pair geom1="floor" geom2="right_object_8" name="floor_right_object_8" friction="1 1 0.1 0 0"/>
|
| 458 |
+
<pair geom1="floor" geom2="right_object_9" name="floor_right_object_9" friction="1 1 0.1 0 0"/>
|
| 459 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_thumb_0" name="collision_hand_right_palm_0_collision_hand_right_thumb_0" friction="1 1 0.1 0 0"/>
|
| 460 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_index_0" name="collision_hand_right_palm_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 461 |
<pair geom1="collision_hand_right_palm_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_palm_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 485 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_1" name="collision_hand_right_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 486 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_1" name="collision_hand_right_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 487 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_1" name="collision_hand_right_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 488 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_10" name="collision_hand_right_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 489 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_10" name="collision_hand_right_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 490 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_10" name="collision_hand_right_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
|
| 491 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_11" name="collision_hand_right_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 492 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_11" name="collision_hand_right_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 493 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_11" name="collision_hand_right_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
|
| 494 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_12" name="collision_hand_right_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 495 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_12" name="collision_hand_right_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 496 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_12" name="collision_hand_right_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
|
| 497 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_13" name="collision_hand_right_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 498 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_13" name="collision_hand_right_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 499 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_13" name="collision_hand_right_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
|
| 500 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_14" name="collision_hand_right_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 501 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_14" name="collision_hand_right_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 502 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_14" name="collision_hand_right_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
|
| 503 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_15" name="collision_hand_right_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 504 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_15" name="collision_hand_right_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 505 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_15" name="collision_hand_right_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
|
| 506 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_2" name="collision_hand_right_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 507 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_2" name="collision_hand_right_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 508 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_2" name="collision_hand_right_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
|
|
| 521 |
<pair geom1="collision_hand_right_palm_0" geom2="right_object_7" name="collision_hand_right_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 522 |
<pair geom1="collision_hand_right_palm_1" geom2="right_object_7" name="collision_hand_right_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 523 |
<pair geom1="collision_hand_right_palm_2" geom2="right_object_7" name="collision_hand_right_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 524 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_8" name="collision_hand_right_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 525 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_8" name="collision_hand_right_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 526 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_8" name="collision_hand_right_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
|
| 527 |
+
<pair geom1="collision_hand_right_palm_0" geom2="right_object_9" name="collision_hand_right_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 528 |
+
<pair geom1="collision_hand_right_palm_1" geom2="right_object_9" name="collision_hand_right_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 529 |
+
<pair geom1="collision_hand_right_palm_2" geom2="right_object_9" name="collision_hand_right_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
|
| 530 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_index_0" name="collision_hand_right_thumb_0_collision_hand_right_index_0" friction="1 1 0.1 0 0"/>
|
| 531 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_thumb_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 532 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_thumb_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 545 |
<pair geom1="collision_hand_right_thumb_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_thumb_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 546 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_0" name="collision_hand_right_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 547 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_1" name="collision_hand_right_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 548 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_10" name="collision_hand_right_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 549 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_11" name="collision_hand_right_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 550 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_12" name="collision_hand_right_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 551 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_13" name="collision_hand_right_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 552 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_14" name="collision_hand_right_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 553 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_15" name="collision_hand_right_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 554 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_2" name="collision_hand_right_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 555 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_3" name="collision_hand_right_thumb_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 556 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_4" name="collision_hand_right_thumb_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 557 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_5" name="collision_hand_right_thumb_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 558 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_6" name="collision_hand_right_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 559 |
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_7" name="collision_hand_right_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 560 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_8" name="collision_hand_right_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 561 |
+
<pair geom1="collision_hand_right_thumb_0" geom2="right_object_9" name="collision_hand_right_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 562 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 563 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 564 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 567 |
<pair geom1="collision_hand_right_index_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_index_1" friction="1 1 0.1 0 0"/>
|
| 568 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_0" name="collision_hand_right_index_1_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 569 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_1" name="collision_hand_right_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 570 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_10" name="collision_hand_right_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 571 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_11" name="collision_hand_right_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 572 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_12" name="collision_hand_right_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 573 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_13" name="collision_hand_right_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 574 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_14" name="collision_hand_right_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 575 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_15" name="collision_hand_right_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 576 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_2" name="collision_hand_right_index_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 577 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_3" name="collision_hand_right_index_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 578 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_4" name="collision_hand_right_index_1_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 579 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_5" name="collision_hand_right_index_1_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 580 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_6" name="collision_hand_right_index_1_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 581 |
<pair geom1="collision_hand_right_index_1" geom2="right_object_7" name="collision_hand_right_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 582 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_8" name="collision_hand_right_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 583 |
+
<pair geom1="collision_hand_right_index_1" geom2="right_object_9" name="collision_hand_right_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 584 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_middle_0" name="collision_hand_right_index_0_collision_hand_right_middle_0" friction="1 1 0.1 0 0"/>
|
| 585 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_index_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 586 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_index_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 598 |
<pair geom1="collision_hand_right_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 599 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_0" name="collision_hand_right_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 600 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_1" name="collision_hand_right_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 601 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_10" name="collision_hand_right_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 602 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_11" name="collision_hand_right_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 603 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_12" name="collision_hand_right_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 604 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_13" name="collision_hand_right_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 605 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_14" name="collision_hand_right_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 606 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_15" name="collision_hand_right_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 607 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_2" name="collision_hand_right_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 608 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_3" name="collision_hand_right_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 609 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_4" name="collision_hand_right_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 610 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_5" name="collision_hand_right_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 611 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_6" name="collision_hand_right_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 612 |
<pair geom1="collision_hand_right_index_0" geom2="right_object_7" name="collision_hand_right_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 613 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_8" name="collision_hand_right_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 614 |
+
<pair geom1="collision_hand_right_index_0" geom2="right_object_9" name="collision_hand_right_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 615 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 616 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 617 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 620 |
<pair geom1="collision_hand_right_middle_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_middle_1" friction="1 1 0.1 0 0"/>
|
| 621 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_0" name="collision_hand_right_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 622 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_1" name="collision_hand_right_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 623 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_10" name="collision_hand_right_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 624 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_11" name="collision_hand_right_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 625 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_12" name="collision_hand_right_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 626 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_13" name="collision_hand_right_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 627 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_14" name="collision_hand_right_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 628 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_15" name="collision_hand_right_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 629 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_2" name="collision_hand_right_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 630 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_3" name="collision_hand_right_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 631 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_4" name="collision_hand_right_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 632 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_5" name="collision_hand_right_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 633 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_6" name="collision_hand_right_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 634 |
<pair geom1="collision_hand_right_middle_1" geom2="right_object_7" name="collision_hand_right_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 635 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_8" name="collision_hand_right_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 636 |
+
<pair geom1="collision_hand_right_middle_1" geom2="right_object_9" name="collision_hand_right_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 637 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_ring_0" name="collision_hand_right_middle_0_collision_hand_right_ring_0" friction="1 1 0.1 0 0"/>
|
| 638 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_middle_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 639 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_middle_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 650 |
<pair geom1="collision_hand_right_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 651 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_0" name="collision_hand_right_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 652 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_1" name="collision_hand_right_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 653 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_10" name="collision_hand_right_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 654 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_11" name="collision_hand_right_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 655 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_12" name="collision_hand_right_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 656 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_13" name="collision_hand_right_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 657 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_14" name="collision_hand_right_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 658 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_15" name="collision_hand_right_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 659 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_2" name="collision_hand_right_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 660 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_3" name="collision_hand_right_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 661 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_4" name="collision_hand_right_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 662 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_5" name="collision_hand_right_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 663 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_6" name="collision_hand_right_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 664 |
<pair geom1="collision_hand_right_middle_0" geom2="right_object_7" name="collision_hand_right_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 665 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_8" name="collision_hand_right_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 666 |
+
<pair geom1="collision_hand_right_middle_0" geom2="right_object_9" name="collision_hand_right_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 667 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 668 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 669 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 672 |
<pair geom1="collision_hand_right_ring_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_ring_1" friction="1 1 0.1 0 0"/>
|
| 673 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_0" name="collision_hand_right_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 674 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_1" name="collision_hand_right_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 675 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_10" name="collision_hand_right_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 676 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_11" name="collision_hand_right_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 677 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_12" name="collision_hand_right_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 678 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_13" name="collision_hand_right_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 679 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_14" name="collision_hand_right_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 680 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_15" name="collision_hand_right_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 681 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_2" name="collision_hand_right_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 682 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_3" name="collision_hand_right_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 683 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_4" name="collision_hand_right_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 684 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_5" name="collision_hand_right_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 685 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_6" name="collision_hand_right_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 686 |
<pair geom1="collision_hand_right_ring_1" geom2="right_object_7" name="collision_hand_right_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 687 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_8" name="collision_hand_right_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 688 |
+
<pair geom1="collision_hand_right_ring_1" geom2="right_object_9" name="collision_hand_right_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 689 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_right_pinky_0" name="collision_hand_right_ring_0_collision_hand_right_pinky_0" friction="1 1 0.1 0 0"/>
|
| 690 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_ring_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 691 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_ring_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 701 |
<pair geom1="collision_hand_right_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 702 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_0" name="collision_hand_right_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 703 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_1" name="collision_hand_right_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 704 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_10" name="collision_hand_right_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 705 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_11" name="collision_hand_right_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 706 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_12" name="collision_hand_right_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 707 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_13" name="collision_hand_right_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 708 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_14" name="collision_hand_right_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 709 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_15" name="collision_hand_right_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 710 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_2" name="collision_hand_right_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 711 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_3" name="collision_hand_right_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 712 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_4" name="collision_hand_right_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 713 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_5" name="collision_hand_right_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 714 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_6" name="collision_hand_right_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 715 |
<pair geom1="collision_hand_right_ring_0" geom2="right_object_7" name="collision_hand_right_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 716 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_8" name="collision_hand_right_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 717 |
+
<pair geom1="collision_hand_right_ring_0" geom2="right_object_9" name="collision_hand_right_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 718 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_palm_0" name="collision_hand_left_palm_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 719 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_thumb_0" name="collision_hand_left_thumb_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 720 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_index_0" name="collision_hand_left_index_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 723 |
<pair geom1="collision_hand_right_pinky_1" geom2="collision_hand_left_pinky_0" name="collision_hand_left_pinky_0_collision_hand_right_pinky_1" friction="1 1 0.1 0 0"/>
|
| 724 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_0" name="collision_hand_right_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 725 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_1" name="collision_hand_right_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 726 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_10" name="collision_hand_right_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 727 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_11" name="collision_hand_right_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 728 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_12" name="collision_hand_right_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 729 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_13" name="collision_hand_right_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 730 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_14" name="collision_hand_right_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 731 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_15" name="collision_hand_right_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 732 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_2" name="collision_hand_right_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 733 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_3" name="collision_hand_right_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 734 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_4" name="collision_hand_right_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 735 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_5" name="collision_hand_right_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 736 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_6" name="collision_hand_right_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 737 |
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_7" name="collision_hand_right_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 738 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_8" name="collision_hand_right_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 739 |
+
<pair geom1="collision_hand_right_pinky_1" geom2="right_object_9" name="collision_hand_right_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 740 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_0" name="collision_hand_right_pinky_0_collision_hand_left_palm_0" friction="1 1 0.1 0 0"/>
|
| 741 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_palm_1" name="collision_hand_right_pinky_0_collision_hand_left_palm_1" friction="1 1 0.1 0 0"/>
|
| 742 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_thumb_1" name="collision_hand_right_pinky_0_collision_hand_left_thumb_1" friction="1 1 0.1 0 0"/>
|
|
|
|
| 751 |
<pair geom1="collision_hand_right_pinky_0" geom2="collision_hand_left_pinky_0" name="collision_hand_right_pinky_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 752 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_0" name="collision_hand_right_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 753 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_1" name="collision_hand_right_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 754 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_10" name="collision_hand_right_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 755 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_11" name="collision_hand_right_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 756 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_12" name="collision_hand_right_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 757 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_13" name="collision_hand_right_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 758 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_14" name="collision_hand_right_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 759 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_15" name="collision_hand_right_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 760 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_2" name="collision_hand_right_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 761 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_3" name="collision_hand_right_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 762 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_4" name="collision_hand_right_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 763 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_5" name="collision_hand_right_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 764 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_6" name="collision_hand_right_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 765 |
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_7" name="collision_hand_right_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 766 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_8" name="collision_hand_right_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 767 |
+
<pair geom1="collision_hand_right_pinky_0" geom2="right_object_9" name="collision_hand_right_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 768 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_thumb_0" name="collision_hand_left_palm_0_collision_hand_left_thumb_0" friction="1 1 0.1 0 0"/>
|
| 769 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_index_0" name="collision_hand_left_palm_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
|
| 770 |
<pair geom1="collision_hand_left_palm_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_palm_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 776 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_1" name="collision_hand_left_palm_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 777 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_1" name="collision_hand_left_palm_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 778 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_1" name="collision_hand_left_palm_2_right_object_1" friction="1 1 0.1 0 0"/>
|
| 779 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_10" name="collision_hand_left_palm_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 780 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_10" name="collision_hand_left_palm_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 781 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_10" name="collision_hand_left_palm_2_right_object_10" friction="1 1 0.1 0 0"/>
|
| 782 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_11" name="collision_hand_left_palm_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 783 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_11" name="collision_hand_left_palm_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 784 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_11" name="collision_hand_left_palm_2_right_object_11" friction="1 1 0.1 0 0"/>
|
| 785 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_12" name="collision_hand_left_palm_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 786 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_12" name="collision_hand_left_palm_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 787 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_12" name="collision_hand_left_palm_2_right_object_12" friction="1 1 0.1 0 0"/>
|
| 788 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_13" name="collision_hand_left_palm_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 789 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_13" name="collision_hand_left_palm_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 790 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_13" name="collision_hand_left_palm_2_right_object_13" friction="1 1 0.1 0 0"/>
|
| 791 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_14" name="collision_hand_left_palm_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 792 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_14" name="collision_hand_left_palm_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 793 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_14" name="collision_hand_left_palm_2_right_object_14" friction="1 1 0.1 0 0"/>
|
| 794 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_15" name="collision_hand_left_palm_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 795 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_15" name="collision_hand_left_palm_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 796 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_15" name="collision_hand_left_palm_2_right_object_15" friction="1 1 0.1 0 0"/>
|
| 797 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_2" name="collision_hand_left_palm_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 798 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_2" name="collision_hand_left_palm_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 799 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_2" name="collision_hand_left_palm_2_right_object_2" friction="1 1 0.1 0 0"/>
|
|
|
|
| 812 |
<pair geom1="collision_hand_left_palm_0" geom2="right_object_7" name="collision_hand_left_palm_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 813 |
<pair geom1="collision_hand_left_palm_1" geom2="right_object_7" name="collision_hand_left_palm_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 814 |
<pair geom1="collision_hand_left_palm_2" geom2="right_object_7" name="collision_hand_left_palm_2_right_object_7" friction="1 1 0.1 0 0"/>
|
| 815 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_8" name="collision_hand_left_palm_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 816 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_8" name="collision_hand_left_palm_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 817 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_8" name="collision_hand_left_palm_2_right_object_8" friction="1 1 0.1 0 0"/>
|
| 818 |
+
<pair geom1="collision_hand_left_palm_0" geom2="right_object_9" name="collision_hand_left_palm_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 819 |
+
<pair geom1="collision_hand_left_palm_1" geom2="right_object_9" name="collision_hand_left_palm_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 820 |
+
<pair geom1="collision_hand_left_palm_2" geom2="right_object_9" name="collision_hand_left_palm_2_right_object_9" friction="1 1 0.1 0 0"/>
|
| 821 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_0" name="collision_hand_left_thumb_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 822 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_0" name="collision_hand_left_thumb_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 823 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_1" name="collision_hand_left_thumb_2_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 824 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_1" name="collision_hand_left_thumb_3_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 825 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_10" name="collision_hand_left_thumb_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 826 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_10" name="collision_hand_left_thumb_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 827 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_11" name="collision_hand_left_thumb_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 828 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_11" name="collision_hand_left_thumb_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 829 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_12" name="collision_hand_left_thumb_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 830 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_12" name="collision_hand_left_thumb_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 831 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_13" name="collision_hand_left_thumb_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 832 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_13" name="collision_hand_left_thumb_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 833 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_14" name="collision_hand_left_thumb_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 834 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_14" name="collision_hand_left_thumb_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 835 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_15" name="collision_hand_left_thumb_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 836 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_15" name="collision_hand_left_thumb_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 837 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_2" name="collision_hand_left_thumb_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 838 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_2" name="collision_hand_left_thumb_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 839 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_3" name="collision_hand_left_thumb_2_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 846 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_6" name="collision_hand_left_thumb_3_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 847 |
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_7" name="collision_hand_left_thumb_2_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 848 |
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_7" name="collision_hand_left_thumb_3_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 849 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_8" name="collision_hand_left_thumb_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 850 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_8" name="collision_hand_left_thumb_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 851 |
+
<pair geom1="collision_hand_left_thumb_2" geom2="right_object_9" name="collision_hand_left_thumb_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 852 |
+
<pair geom1="collision_hand_left_thumb_3" geom2="right_object_9" name="collision_hand_left_thumb_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 853 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_index_0" name="collision_hand_left_thumb_0_collision_hand_left_index_0" friction="1 1 0.1 0 0"/>
|
| 854 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_thumb_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 855 |
<pair geom1="collision_hand_left_thumb_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_thumb_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
|
|
|
| 858 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_0" name="collision_hand_left_thumb_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 859 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_1" name="collision_hand_left_thumb_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 860 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_1" name="collision_hand_left_thumb_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 861 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_10" name="collision_hand_left_thumb_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 862 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_10" name="collision_hand_left_thumb_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 863 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_11" name="collision_hand_left_thumb_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 864 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_11" name="collision_hand_left_thumb_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 865 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_12" name="collision_hand_left_thumb_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 866 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_12" name="collision_hand_left_thumb_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 867 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_13" name="collision_hand_left_thumb_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 868 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_13" name="collision_hand_left_thumb_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 869 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_14" name="collision_hand_left_thumb_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 870 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_14" name="collision_hand_left_thumb_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 871 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_15" name="collision_hand_left_thumb_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 872 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_15" name="collision_hand_left_thumb_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 873 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_2" name="collision_hand_left_thumb_1_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 874 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_2" name="collision_hand_left_thumb_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 875 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_3" name="collision_hand_left_thumb_1_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 882 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_6" name="collision_hand_left_thumb_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 883 |
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_7" name="collision_hand_left_thumb_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 884 |
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_7" name="collision_hand_left_thumb_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 885 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_8" name="collision_hand_left_thumb_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 886 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_8" name="collision_hand_left_thumb_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 887 |
+
<pair geom1="collision_hand_left_thumb_1" geom2="right_object_9" name="collision_hand_left_thumb_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 888 |
+
<pair geom1="collision_hand_left_thumb_0" geom2="right_object_9" name="collision_hand_left_thumb_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 889 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_0" name="collision_hand_left_index_2_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 890 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_0" name="collision_hand_left_index_3_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 891 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_0" name="collision_hand_left_index_4_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 898 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_1" name="collision_hand_left_index_5_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 899 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_1" name="collision_hand_left_index_6_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 900 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_1" name="collision_hand_left_index_1_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 901 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_10" name="collision_hand_left_index_2_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 902 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_10" name="collision_hand_left_index_3_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 903 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_10" name="collision_hand_left_index_4_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 904 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_10" name="collision_hand_left_index_5_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 905 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_10" name="collision_hand_left_index_6_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 906 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_10" name="collision_hand_left_index_1_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 907 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_11" name="collision_hand_left_index_2_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 908 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_11" name="collision_hand_left_index_3_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 909 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_11" name="collision_hand_left_index_4_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 910 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_11" name="collision_hand_left_index_5_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 911 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_11" name="collision_hand_left_index_6_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 912 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_11" name="collision_hand_left_index_1_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 913 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_12" name="collision_hand_left_index_2_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 914 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_12" name="collision_hand_left_index_3_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 915 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_12" name="collision_hand_left_index_4_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 916 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_12" name="collision_hand_left_index_5_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 917 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_12" name="collision_hand_left_index_6_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 918 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_12" name="collision_hand_left_index_1_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 919 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_13" name="collision_hand_left_index_2_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 920 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_13" name="collision_hand_left_index_3_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 921 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_13" name="collision_hand_left_index_4_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 922 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_13" name="collision_hand_left_index_5_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 923 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_13" name="collision_hand_left_index_6_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 924 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_13" name="collision_hand_left_index_1_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 925 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_14" name="collision_hand_left_index_2_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 926 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_14" name="collision_hand_left_index_3_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 927 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_14" name="collision_hand_left_index_4_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 928 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_14" name="collision_hand_left_index_5_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 929 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_14" name="collision_hand_left_index_6_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 930 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_14" name="collision_hand_left_index_1_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 931 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_15" name="collision_hand_left_index_2_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 932 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_15" name="collision_hand_left_index_3_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 933 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_15" name="collision_hand_left_index_4_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 934 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_15" name="collision_hand_left_index_5_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 935 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_15" name="collision_hand_left_index_6_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 936 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_15" name="collision_hand_left_index_1_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 937 |
<pair geom1="collision_hand_left_index_2" geom2="right_object_2" name="collision_hand_left_index_2_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 938 |
<pair geom1="collision_hand_left_index_3" geom2="right_object_2" name="collision_hand_left_index_3_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 939 |
<pair geom1="collision_hand_left_index_4" geom2="right_object_2" name="collision_hand_left_index_4_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
|
|
|
| 970 |
<pair geom1="collision_hand_left_index_5" geom2="right_object_7" name="collision_hand_left_index_5_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 971 |
<pair geom1="collision_hand_left_index_6" geom2="right_object_7" name="collision_hand_left_index_6_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 972 |
<pair geom1="collision_hand_left_index_1" geom2="right_object_7" name="collision_hand_left_index_1_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 973 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_8" name="collision_hand_left_index_2_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 974 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_8" name="collision_hand_left_index_3_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 975 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_8" name="collision_hand_left_index_4_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 976 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_8" name="collision_hand_left_index_5_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 977 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_8" name="collision_hand_left_index_6_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 978 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_8" name="collision_hand_left_index_1_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 979 |
+
<pair geom1="collision_hand_left_index_2" geom2="right_object_9" name="collision_hand_left_index_2_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 980 |
+
<pair geom1="collision_hand_left_index_3" geom2="right_object_9" name="collision_hand_left_index_3_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 981 |
+
<pair geom1="collision_hand_left_index_4" geom2="right_object_9" name="collision_hand_left_index_4_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 982 |
+
<pair geom1="collision_hand_left_index_5" geom2="right_object_9" name="collision_hand_left_index_5_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 983 |
+
<pair geom1="collision_hand_left_index_6" geom2="right_object_9" name="collision_hand_left_index_6_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 984 |
+
<pair geom1="collision_hand_left_index_1" geom2="right_object_9" name="collision_hand_left_index_1_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 985 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_middle_0" name="collision_hand_left_index_0_collision_hand_left_middle_0" friction="1 1 0.1 0 0"/>
|
| 986 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_index_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 987 |
<pair geom1="collision_hand_left_index_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_index_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 988 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_0" name="collision_hand_left_index_0_right_object_0" condim="4" friction="1 1 0.1 0 0"/>
|
| 989 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_1" name="collision_hand_left_index_0_right_object_1" condim="4" friction="1 1 0.1 0 0"/>
|
| 990 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_10" name="collision_hand_left_index_0_right_object_10" condim="4" friction="1 1 0.1 0 0"/>
|
| 991 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_11" name="collision_hand_left_index_0_right_object_11" condim="4" friction="1 1 0.1 0 0"/>
|
| 992 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_12" name="collision_hand_left_index_0_right_object_12" condim="4" friction="1 1 0.1 0 0"/>
|
| 993 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_13" name="collision_hand_left_index_0_right_object_13" condim="4" friction="1 1 0.1 0 0"/>
|
| 994 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_14" name="collision_hand_left_index_0_right_object_14" condim="4" friction="1 1 0.1 0 0"/>
|
| 995 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_15" name="collision_hand_left_index_0_right_object_15" condim="4" friction="1 1 0.1 0 0"/>
|
| 996 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_2" name="collision_hand_left_index_0_right_object_2" condim="4" friction="1 1 0.1 0 0"/>
|
| 997 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_3" name="collision_hand_left_index_0_right_object_3" condim="4" friction="1 1 0.1 0 0"/>
|
| 998 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_4" name="collision_hand_left_index_0_right_object_4" condim="4" friction="1 1 0.1 0 0"/>
|
| 999 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_5" name="collision_hand_left_index_0_right_object_5" condim="4" friction="1 1 0.1 0 0"/>
|
| 1000 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_6" name="collision_hand_left_index_0_right_object_6" condim="4" friction="1 1 0.1 0 0"/>
|
| 1001 |
<pair geom1="collision_hand_left_index_0" geom2="right_object_7" name="collision_hand_left_index_0_right_object_7" condim="4" friction="1 1 0.1 0 0"/>
|
| 1002 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_8" name="collision_hand_left_index_0_right_object_8" condim="4" friction="1 1 0.1 0 0"/>
|
| 1003 |
+
<pair geom1="collision_hand_left_index_0" geom2="right_object_9" name="collision_hand_left_index_0_right_object_9" condim="4" friction="1 1 0.1 0 0"/>
|
| 1004 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_0" name="collision_hand_left_middle_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1005 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_1" name="collision_hand_left_middle_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1006 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_10" name="collision_hand_left_middle_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1007 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_11" name="collision_hand_left_middle_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1008 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_12" name="collision_hand_left_middle_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1009 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_13" name="collision_hand_left_middle_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1010 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_14" name="collision_hand_left_middle_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1011 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_15" name="collision_hand_left_middle_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1012 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_2" name="collision_hand_left_middle_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1013 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_3" name="collision_hand_left_middle_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1014 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_4" name="collision_hand_left_middle_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1015 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_5" name="collision_hand_left_middle_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1016 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_6" name="collision_hand_left_middle_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1017 |
<pair geom1="collision_hand_left_middle_1" geom2="right_object_7" name="collision_hand_left_middle_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1018 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_8" name="collision_hand_left_middle_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1019 |
+
<pair geom1="collision_hand_left_middle_1" geom2="right_object_9" name="collision_hand_left_middle_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1020 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_ring_0" name="collision_hand_left_middle_0_collision_hand_left_ring_0" friction="1 1 0.1 0 0"/>
|
| 1021 |
<pair geom1="collision_hand_left_middle_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_middle_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 1022 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_0" name="collision_hand_left_middle_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1023 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_1" name="collision_hand_left_middle_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1024 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_10" name="collision_hand_left_middle_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1025 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_11" name="collision_hand_left_middle_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1026 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_12" name="collision_hand_left_middle_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1027 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_13" name="collision_hand_left_middle_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1028 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_14" name="collision_hand_left_middle_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1029 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_15" name="collision_hand_left_middle_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1030 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_2" name="collision_hand_left_middle_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1031 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_3" name="collision_hand_left_middle_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1032 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_4" name="collision_hand_left_middle_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1033 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_5" name="collision_hand_left_middle_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1034 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_6" name="collision_hand_left_middle_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1035 |
<pair geom1="collision_hand_left_middle_0" geom2="right_object_7" name="collision_hand_left_middle_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1036 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_8" name="collision_hand_left_middle_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1037 |
+
<pair geom1="collision_hand_left_middle_0" geom2="right_object_9" name="collision_hand_left_middle_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1038 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_0" name="collision_hand_left_ring_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1039 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_1" name="collision_hand_left_ring_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1040 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_10" name="collision_hand_left_ring_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1041 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_11" name="collision_hand_left_ring_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1042 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_12" name="collision_hand_left_ring_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1043 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_13" name="collision_hand_left_ring_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1044 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_14" name="collision_hand_left_ring_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1045 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_15" name="collision_hand_left_ring_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1046 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_2" name="collision_hand_left_ring_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1047 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_3" name="collision_hand_left_ring_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1048 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_4" name="collision_hand_left_ring_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1049 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_5" name="collision_hand_left_ring_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1050 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_6" name="collision_hand_left_ring_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1051 |
<pair geom1="collision_hand_left_ring_1" geom2="right_object_7" name="collision_hand_left_ring_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1052 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_8" name="collision_hand_left_ring_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1053 |
+
<pair geom1="collision_hand_left_ring_1" geom2="right_object_9" name="collision_hand_left_ring_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1054 |
<pair geom1="collision_hand_left_ring_0" geom2="collision_hand_left_pinky_0" name="collision_hand_left_ring_0_collision_hand_left_pinky_0" friction="1 1 0.1 0 0"/>
|
| 1055 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_0" name="collision_hand_left_ring_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1056 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_1" name="collision_hand_left_ring_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1057 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_10" name="collision_hand_left_ring_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1058 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_11" name="collision_hand_left_ring_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1059 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_12" name="collision_hand_left_ring_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1060 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_13" name="collision_hand_left_ring_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1061 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_14" name="collision_hand_left_ring_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1062 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_15" name="collision_hand_left_ring_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1063 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_2" name="collision_hand_left_ring_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1064 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_3" name="collision_hand_left_ring_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1065 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_4" name="collision_hand_left_ring_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1066 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_5" name="collision_hand_left_ring_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1067 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_6" name="collision_hand_left_ring_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1068 |
<pair geom1="collision_hand_left_ring_0" geom2="right_object_7" name="collision_hand_left_ring_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1069 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_8" name="collision_hand_left_ring_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1070 |
+
<pair geom1="collision_hand_left_ring_0" geom2="right_object_9" name="collision_hand_left_ring_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1071 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_0" name="collision_hand_left_pinky_1_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1072 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_1" name="collision_hand_left_pinky_1_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1073 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_10" name="collision_hand_left_pinky_1_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1074 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_11" name="collision_hand_left_pinky_1_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1075 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_12" name="collision_hand_left_pinky_1_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1076 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_13" name="collision_hand_left_pinky_1_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1077 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_14" name="collision_hand_left_pinky_1_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1078 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_15" name="collision_hand_left_pinky_1_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1079 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_2" name="collision_hand_left_pinky_1_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1080 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_3" name="collision_hand_left_pinky_1_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1081 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_4" name="collision_hand_left_pinky_1_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1082 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_5" name="collision_hand_left_pinky_1_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1083 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_6" name="collision_hand_left_pinky_1_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1084 |
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_7" name="collision_hand_left_pinky_1_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1085 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_8" name="collision_hand_left_pinky_1_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1086 |
+
<pair geom1="collision_hand_left_pinky_1" geom2="right_object_9" name="collision_hand_left_pinky_1_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1087 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_0" name="collision_hand_left_pinky_0_right_object_0" friction="1 1 0.1 0 0"/>
|
| 1088 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_1" name="collision_hand_left_pinky_0_right_object_1" friction="1 1 0.1 0 0"/>
|
| 1089 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_10" name="collision_hand_left_pinky_0_right_object_10" friction="1 1 0.1 0 0"/>
|
| 1090 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_11" name="collision_hand_left_pinky_0_right_object_11" friction="1 1 0.1 0 0"/>
|
| 1091 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_12" name="collision_hand_left_pinky_0_right_object_12" friction="1 1 0.1 0 0"/>
|
| 1092 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_13" name="collision_hand_left_pinky_0_right_object_13" friction="1 1 0.1 0 0"/>
|
| 1093 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_14" name="collision_hand_left_pinky_0_right_object_14" friction="1 1 0.1 0 0"/>
|
| 1094 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_15" name="collision_hand_left_pinky_0_right_object_15" friction="1 1 0.1 0 0"/>
|
| 1095 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_2" name="collision_hand_left_pinky_0_right_object_2" friction="1 1 0.1 0 0"/>
|
| 1096 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_3" name="collision_hand_left_pinky_0_right_object_3" friction="1 1 0.1 0 0"/>
|
| 1097 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_4" name="collision_hand_left_pinky_0_right_object_4" friction="1 1 0.1 0 0"/>
|
| 1098 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_5" name="collision_hand_left_pinky_0_right_object_5" friction="1 1 0.1 0 0"/>
|
| 1099 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_6" name="collision_hand_left_pinky_0_right_object_6" friction="1 1 0.1 0 0"/>
|
| 1100 |
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_7" name="collision_hand_left_pinky_0_right_object_7" friction="1 1 0.1 0 0"/>
|
| 1101 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_8" name="collision_hand_left_pinky_0_right_object_8" friction="1 1 0.1 0 0"/>
|
| 1102 |
+
<pair geom1="collision_hand_left_pinky_0" geom2="right_object_9" name="collision_hand_left_pinky_0_right_object_9" friction="1 1 0.1 0 0"/>
|
| 1103 |
</contact>
|
| 1104 |
|
| 1105 |
<equality>
|
|
|
|
| 1126 |
</equality>
|
| 1127 |
|
| 1128 |
<actuator>
|
| 1129 |
+
<general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 1130 |
+
<general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 1131 |
+
<general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 1132 |
+
<general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1133 |
+
<general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1134 |
+
<general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1135 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 1136 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 1137 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 1142 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 1143 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 1144 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 1145 |
+
<general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 1146 |
+
<general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 1147 |
+
<general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 1148 |
+
<general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1149 |
+
<general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1150 |
+
<general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 1151 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 1152 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 1153 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
processed/gigahand/ability/bimanual/p44-dog/0/config.yaml
ADDED
|
@@ -0,0 +1,91 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p44-dog
|
| 4 |
+
dataset_dir: example_datasets
|
| 5 |
+
dataset_name: gigahand
|
| 6 |
+
data_id: 0
|
| 7 |
+
model_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0/../scene.xml
|
| 8 |
+
data_path: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0/trajectory_kinematic.npz
|
| 9 |
+
simulator: mjwp
|
| 10 |
+
device: cuda:0
|
| 11 |
+
sim_dt: 0.01
|
| 12 |
+
ctrl_dt: 0.4
|
| 13 |
+
ref_dt: 0.02
|
| 14 |
+
render_dt: 0.02
|
| 15 |
+
horizon: 1.6
|
| 16 |
+
knot_dt: 0.4
|
| 17 |
+
max_sim_steps: 654
|
| 18 |
+
nconmax_per_env: 100
|
| 19 |
+
njmax_per_env: 350
|
| 20 |
+
num_dyn: 1
|
| 21 |
+
num_dr: 1
|
| 22 |
+
pair_margin_range:
|
| 23 |
+
- -0.005
|
| 24 |
+
- 0.005
|
| 25 |
+
xy_offset_range:
|
| 26 |
+
- -0.005
|
| 27 |
+
- 0.005
|
| 28 |
+
perturb_force: 0.0
|
| 29 |
+
perturb_torque: 0.0
|
| 30 |
+
num_samples: 1024
|
| 31 |
+
temperature: 1.0
|
| 32 |
+
max_num_iterations: 32
|
| 33 |
+
improvement_threshold: 0.01
|
| 34 |
+
improvement_check_steps: 1
|
| 35 |
+
terminate_resample: false
|
| 36 |
+
object_pos_threshold: 0.1
|
| 37 |
+
object_rot_threshold: 0.3
|
| 38 |
+
base_pos_threshold: 0.5
|
| 39 |
+
base_rot_threshold: 0.4
|
| 40 |
+
use_torch_compile: true
|
| 41 |
+
first_ctrl_noise_scale: 0.5
|
| 42 |
+
last_ctrl_noise_scale: 1.0
|
| 43 |
+
final_noise_scale: 0.1
|
| 44 |
+
exploit_ratio: 0.01
|
| 45 |
+
exploit_noise_scale: 0.01
|
| 46 |
+
joint_noise_scale: 0.03
|
| 47 |
+
pos_noise_scale: 0.03
|
| 48 |
+
rot_noise_scale: 0.01
|
| 49 |
+
base_pos_rew_scale: 0.1
|
| 50 |
+
base_rot_rew_scale: 0.03
|
| 51 |
+
joint_rew_scale: 0.003
|
| 52 |
+
pos_rew_scale: 1.0
|
| 53 |
+
rot_rew_scale: 0.3
|
| 54 |
+
vel_rew_scale: 0.0001
|
| 55 |
+
terminal_rew_scale: 1.0
|
| 56 |
+
contact_rew_scale: 0.0
|
| 57 |
+
show_viewer: true
|
| 58 |
+
viewer: mujoco-rerun
|
| 59 |
+
rerun_spawn: true
|
| 60 |
+
save_video: true
|
| 61 |
+
save_info: true
|
| 62 |
+
save_rerun: false
|
| 63 |
+
save_metrics: true
|
| 64 |
+
save_config: true
|
| 65 |
+
trace_dt: 0.02
|
| 66 |
+
num_trace_uniform_samples: 4
|
| 67 |
+
num_trace_topk_samples: 2
|
| 68 |
+
trace_site_ids:
|
| 69 |
+
- 33
|
| 70 |
+
- 55
|
| 71 |
+
- 3
|
| 72 |
+
- 6
|
| 73 |
+
- 9
|
| 74 |
+
- 12
|
| 75 |
+
- 15
|
| 76 |
+
- 19
|
| 77 |
+
- 22
|
| 78 |
+
- 25
|
| 79 |
+
- 28
|
| 80 |
+
- 31
|
| 81 |
+
horizon_steps: 160
|
| 82 |
+
knot_steps: 40
|
| 83 |
+
ref_steps: 2
|
| 84 |
+
ctrl_steps: 40
|
| 85 |
+
nq_obj: 14
|
| 86 |
+
nq: 46
|
| 87 |
+
nv: 44
|
| 88 |
+
nu: 32
|
| 89 |
+
npair: 396
|
| 90 |
+
beta_traj: 0.930572040929699
|
| 91 |
+
output_dir: /home/chaoyipan/Research/code/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/0
|
processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p44-dog/0}/trajectory_ikrollout.npz
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0ddaeb7e14ff1c6614e16751dbc88ea529334480f8c00022457d68df82dda955
|
| 3 |
+
size 120598
|
processed/gigahand/ability/bimanual/p44-dog/0/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3ffa36677004c0a935530b72b1e551b6afc999b2a3cb563825f2488d5593ccef
|
| 3 |
+
size 567852
|
processed/gigahand/ability/bimanual/p44-dog/0/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7ab474237060f9e0dbe70a49295f5ff9bf76264a19635b085f19f4e5a751d66d
|
| 3 |
+
size 721574
|
processed/gigahand/{allegro/bimanual/p36-tea/10 → ability/bimanual/p44-dog/0}/visualization_ik.mp4
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f46bacebf7cbf32cf35fad3b2619e348ac81d9e468003fc9e48858b6003e5a9
|
| 3 |
+
size 389755
|
processed/gigahand/ability/bimanual/p44-dog/0/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0f53e16f285ea198612897514f767d60de1fb0f7b691dec049b8784f73a6218d
|
| 3 |
+
size 1003783
|
processed/gigahand/ability/bimanual/p44-dog/1/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p44-dog
|
| 4 |
+
seed: 1
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 1
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/1/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/1/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 654
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 396
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/1
|
processed/gigahand/ability/bimanual/p44-dog/1/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3ffa36677004c0a935530b72b1e551b6afc999b2a3cb563825f2488d5593ccef
|
| 3 |
+
size 567852
|
processed/gigahand/ability/bimanual/p44-dog/1/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9dd5aea92e72f6c4c1d4c94251c5168d843cfb345c6f42fb8a2e469e880d5ad7
|
| 3 |
+
size 721574
|
processed/gigahand/ability/bimanual/p44-dog/1/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:bc43db43233f01850f150733d7dfb939634111e6e87e414622cf0ade99fee3e9
|
| 3 |
+
size 1006001
|
processed/gigahand/ability/bimanual/p44-dog/2/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
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|
|
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|
|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p44-dog
|
| 4 |
+
seed: 2
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 2
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/2/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/2/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 654
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 396
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/2
|
processed/gigahand/ability/bimanual/p44-dog/2/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3ffa36677004c0a935530b72b1e551b6afc999b2a3cb563825f2488d5593ccef
|
| 3 |
+
size 567852
|
processed/gigahand/ability/bimanual/p44-dog/2/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:59e867d002f4d19c7249bb0dcbc49fb207b735f888661d2023f73fdad28a406f
|
| 3 |
+
size 721574
|
processed/gigahand/{inspire/bimanual/p52-instrument/34 → ability/bimanual/p44-dog/2}/visualization_mjwp.mp4
RENAMED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
|
|
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa4c500a0a81571f2c9ca3d591a65edf57c6f8484f2a7e79c89643a03c832ce7
|
| 3 |
+
size 999982
|
processed/gigahand/ability/bimanual/p44-dog/3/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p44-dog
|
| 4 |
+
seed: 3
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 3
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/3/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/3/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 654
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 396
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/3
|
processed/gigahand/ability/bimanual/p44-dog/3/trajectory_kinematic.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:3ffa36677004c0a935530b72b1e551b6afc999b2a3cb563825f2488d5593ccef
|
| 3 |
+
size 567852
|
processed/gigahand/ability/bimanual/p44-dog/3/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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oid sha256:e4154557a3abeabcdc717463e6a13cbb4634457729169f20259830bc75e82a21
|
| 3 |
+
size 721574
|
processed/gigahand/ability/bimanual/p44-dog/3/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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|
| 3 |
+
size 1008726
|
processed/gigahand/ability/bimanual/p44-dog/4/config.yaml
ADDED
|
@@ -0,0 +1,92 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
robot_type: ability
|
| 2 |
+
embodiment_type: bimanual
|
| 3 |
+
task: p44-dog
|
| 4 |
+
seed: 4
|
| 5 |
+
dataset_dir: example_datasets
|
| 6 |
+
dataset_name: gigahand
|
| 7 |
+
data_id: 4
|
| 8 |
+
model_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/4/../scene.xml
|
| 9 |
+
data_path: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/4/trajectory_kinematic.npz
|
| 10 |
+
simulator: mjwp
|
| 11 |
+
device: cuda:0
|
| 12 |
+
sim_dt: 0.01
|
| 13 |
+
ctrl_dt: 0.4
|
| 14 |
+
ref_dt: 0.02
|
| 15 |
+
render_dt: 0.02
|
| 16 |
+
horizon: 1.6
|
| 17 |
+
knot_dt: 0.4
|
| 18 |
+
max_sim_steps: 654
|
| 19 |
+
nconmax_per_env: 100
|
| 20 |
+
njmax_per_env: 350
|
| 21 |
+
num_dyn: 1
|
| 22 |
+
num_dr: 1
|
| 23 |
+
pair_margin_range:
|
| 24 |
+
- -0.005
|
| 25 |
+
- 0.005
|
| 26 |
+
xy_offset_range:
|
| 27 |
+
- -0.005
|
| 28 |
+
- 0.005
|
| 29 |
+
perturb_force: 0.0
|
| 30 |
+
perturb_torque: 0.0
|
| 31 |
+
num_samples: 1024
|
| 32 |
+
temperature: 1.0
|
| 33 |
+
max_num_iterations: 32
|
| 34 |
+
improvement_threshold: 0.01
|
| 35 |
+
improvement_check_steps: 1
|
| 36 |
+
terminate_resample: false
|
| 37 |
+
object_pos_threshold: 0.1
|
| 38 |
+
object_rot_threshold: 0.3
|
| 39 |
+
base_pos_threshold: 0.5
|
| 40 |
+
base_rot_threshold: 0.4
|
| 41 |
+
use_torch_compile: true
|
| 42 |
+
first_ctrl_noise_scale: 0.5
|
| 43 |
+
last_ctrl_noise_scale: 1.0
|
| 44 |
+
final_noise_scale: 0.1
|
| 45 |
+
exploit_ratio: 0.01
|
| 46 |
+
exploit_noise_scale: 0.01
|
| 47 |
+
joint_noise_scale: 0.03
|
| 48 |
+
pos_noise_scale: 0.03
|
| 49 |
+
rot_noise_scale: 0.01
|
| 50 |
+
base_pos_rew_scale: 0.1
|
| 51 |
+
base_rot_rew_scale: 0.03
|
| 52 |
+
joint_rew_scale: 0.003
|
| 53 |
+
pos_rew_scale: 1.0
|
| 54 |
+
rot_rew_scale: 0.3
|
| 55 |
+
vel_rew_scale: 0.0001
|
| 56 |
+
terminal_rew_scale: 1.0
|
| 57 |
+
contact_rew_scale: 0.0
|
| 58 |
+
show_viewer: true
|
| 59 |
+
viewer: ''
|
| 60 |
+
rerun_spawn: true
|
| 61 |
+
save_video: true
|
| 62 |
+
save_info: true
|
| 63 |
+
save_rerun: false
|
| 64 |
+
save_metrics: true
|
| 65 |
+
save_config: true
|
| 66 |
+
trace_dt: 0.02
|
| 67 |
+
num_trace_uniform_samples: 4
|
| 68 |
+
num_trace_topk_samples: 2
|
| 69 |
+
trace_site_ids:
|
| 70 |
+
- 33
|
| 71 |
+
- 55
|
| 72 |
+
- 3
|
| 73 |
+
- 6
|
| 74 |
+
- 9
|
| 75 |
+
- 12
|
| 76 |
+
- 15
|
| 77 |
+
- 19
|
| 78 |
+
- 22
|
| 79 |
+
- 25
|
| 80 |
+
- 28
|
| 81 |
+
- 31
|
| 82 |
+
horizon_steps: 160
|
| 83 |
+
knot_steps: 40
|
| 84 |
+
ref_steps: 2
|
| 85 |
+
ctrl_steps: 40
|
| 86 |
+
nq_obj: 14
|
| 87 |
+
nq: 46
|
| 88 |
+
nv: 44
|
| 89 |
+
nu: 32
|
| 90 |
+
npair: 396
|
| 91 |
+
beta_traj: 0.930572040929699
|
| 92 |
+
output_dir: /home/ubuntu/spider/example_datasets/processed/gigahand/ability/bimanual/p44-dog/4
|
processed/gigahand/ability/bimanual/p44-dog/4/trajectory_kinematic.npz
CHANGED
|
@@ -1,3 +1,3 @@
|
|
| 1 |
version https://git-lfs.github.com/spec/v1
|
| 2 |
-
oid sha256:
|
| 3 |
-
size
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|
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|
| 1 |
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:3ffa36677004c0a935530b72b1e551b6afc999b2a3cb563825f2488d5593ccef
|
| 3 |
+
size 567852
|
processed/gigahand/ability/bimanual/p44-dog/4/trajectory_mjwp.npz
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
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oid sha256:fa8491af155d6370be6900702860a5767d6ef037fb386627f0e3fdc9090fd62e
|
| 3 |
+
size 721574
|
processed/gigahand/ability/bimanual/p44-dog/4/visualization_mjwp.mp4
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:93b728d0019d6b1244ade02db4b1c7f89979abeee0d0b41891c1f974310a4e12
|
| 3 |
+
size 1030893
|
processed/gigahand/ability/bimanual/p44-dog/scene.xml
CHANGED
|
@@ -4,13 +4,19 @@
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
-
<site
|
| 8 |
-
<general biastype="affine" gainprm="
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 9 |
</default>
|
| 10 |
|
| 11 |
<asset>
|
| 12 |
-
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="
|
| 13 |
-
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="
|
| 14 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 15 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 16 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
@@ -89,10 +95,10 @@
|
|
| 89 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 90 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 91 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 92 |
-
<geom name="collision_hand_right_thumb_0" size="0.007 0.
|
| 93 |
-
<site name="right_thumb_tip" pos="0.
|
| 94 |
-
<site name="track_hand_right_thumb_tip" pos="0.
|
| 95 |
-
<site name="trace_hand_right_thumb_tip" pos="0.
|
| 96 |
</body>
|
| 97 |
</body>
|
| 98 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
@@ -112,9 +118,9 @@
|
|
| 112 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 113 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 114 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 115 |
-
<site name="right_index_tip" pos="0.
|
| 116 |
-
<site name="track_hand_right_index_tip" pos="0.
|
| 117 |
-
<site name="trace_hand_right_index_tip" pos="0.
|
| 118 |
</body>
|
| 119 |
</body>
|
| 120 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
@@ -134,9 +140,9 @@
|
|
| 134 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 135 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 136 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 137 |
-
<site name="right_middle_tip" pos="0.
|
| 138 |
-
<site name="track_hand_right_middle_tip" pos="0.
|
| 139 |
-
<site name="trace_hand_right_middle_tip" pos="0.
|
| 140 |
</body>
|
| 141 |
</body>
|
| 142 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
@@ -156,9 +162,9 @@
|
|
| 156 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 157 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 158 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 159 |
-
<site name="right_ring_tip" pos="0.
|
| 160 |
-
<site name="track_hand_right_ring_tip" pos="0.
|
| 161 |
-
<site name="trace_hand_right_ring_tip" pos="0.
|
| 162 |
</body>
|
| 163 |
</body>
|
| 164 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
@@ -178,9 +184,9 @@
|
|
| 178 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 179 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 180 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 181 |
-
<site name="right_pinky_tip" pos="0.
|
| 182 |
-
<site name="track_hand_right_pinky_tip" pos="0.
|
| 183 |
-
<site name="trace_hand_right_pinky_tip" pos="0.
|
| 184 |
</body>
|
| 185 |
</body>
|
| 186 |
</body>
|
|
@@ -225,10 +231,10 @@
|
|
| 225 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 226 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 227 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 228 |
-
<geom name="collision_hand_left_thumb_0" size="0.007 0.
|
| 229 |
-
<site name="left_thumb_tip" pos="0.
|
| 230 |
-
<site name="track_hand_left_thumb_tip" pos="0.
|
| 231 |
-
<site name="trace_hand_left_thumb_tip" pos="0.
|
| 232 |
</body>
|
| 233 |
</body>
|
| 234 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
@@ -248,9 +254,9 @@
|
|
| 248 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 249 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 250 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 251 |
-
<site name="left_index_tip" pos="0.
|
| 252 |
-
<site name="track_hand_left_index_tip" pos="0.
|
| 253 |
-
<site name="trace_hand_left_index_tip" pos="0.
|
| 254 |
</body>
|
| 255 |
</body>
|
| 256 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
@@ -270,9 +276,9 @@
|
|
| 270 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 271 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 272 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 273 |
-
<site name="left_middle_tip" pos="0.
|
| 274 |
-
<site name="track_hand_left_middle_tip" pos="0.
|
| 275 |
-
<site name="trace_hand_left_middle_tip" pos="0.
|
| 276 |
</body>
|
| 277 |
</body>
|
| 278 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
@@ -292,9 +298,9 @@
|
|
| 292 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 293 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 294 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 295 |
-
<site name="left_ring_tip" pos="0.
|
| 296 |
-
<site name="track_hand_left_ring_tip" pos="0.
|
| 297 |
-
<site name="trace_hand_left_ring_tip" pos="0.
|
| 298 |
</body>
|
| 299 |
</body>
|
| 300 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
@@ -314,9 +320,9 @@
|
|
| 314 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 315 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 316 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 317 |
-
<site name="left_pinky_tip" pos="0.
|
| 318 |
-
<site name="track_hand_left_pinky_tip" pos="0.
|
| 319 |
-
<site name="trace_hand_left_pinky_tip" pos="0.
|
| 320 |
</body>
|
| 321 |
</body>
|
| 322 |
</body>
|
|
@@ -327,27 +333,27 @@
|
|
| 327 |
</body>
|
| 328 |
<body name="right_object">
|
| 329 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 330 |
-
<geom name="right_object_0" type="mesh" group="3" density="
|
| 331 |
-
<geom name="right_object_1" type="mesh" group="3" density="
|
| 332 |
-
<geom name="right_object_2" type="mesh" group="3" density="
|
| 333 |
-
<geom name="right_object_3" type="mesh" group="3" density="
|
| 334 |
-
<geom name="right_object_4" type="mesh" group="3" density="
|
| 335 |
-
<geom name="right_object_5" type="mesh" group="3" density="
|
| 336 |
-
<geom name="right_object_6" type="mesh" group="3" density="
|
| 337 |
-
<geom name="right_object_7" type="mesh" group="3" density="
|
| 338 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 339 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 340 |
-
<site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 341 |
-
<site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
|
| 342 |
-
<site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
|
| 343 |
-
<site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
|
| 344 |
-
<site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
|
| 345 |
-
<site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
|
| 346 |
-
<site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
|
| 347 |
-
<site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
|
| 348 |
-
<site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
|
| 349 |
-
<site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
|
| 350 |
-
<site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
|
| 351 |
</body>
|
| 352 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 353 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -383,7 +389,7 @@
|
|
| 383 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 384 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 385 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 386 |
-
<site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 387 |
</body>
|
| 388 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 389 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -817,12 +823,12 @@
|
|
| 817 |
</contact>
|
| 818 |
|
| 819 |
<actuator>
|
| 820 |
-
<general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 821 |
-
<general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 822 |
-
<general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 823 |
-
<general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 824 |
-
<general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 825 |
-
<general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 826 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 827 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 828 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
@@ -833,12 +839,12 @@
|
|
| 833 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 834 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 835 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 836 |
-
<general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 837 |
-
<general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 838 |
-
<general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 839 |
-
<general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 840 |
-
<general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 841 |
-
<general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 842 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 843 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 844 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
+
<site group="3" rgba="1 0 0 1"/>
|
| 8 |
+
<general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
|
| 9 |
+
<default class="right_base">
|
| 10 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 11 |
+
</default>
|
| 12 |
+
<default class="left_base">
|
| 13 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 14 |
+
</default>
|
| 15 |
</default>
|
| 16 |
|
| 17 |
<asset>
|
| 18 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
|
| 19 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
|
| 20 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 21 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 22 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
|
|
| 95 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 96 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 97 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 98 |
+
<geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 99 |
+
<site name="right_thumb_tip" pos="0.059 0.025 0"/>
|
| 100 |
+
<site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 101 |
+
<site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 102 |
</body>
|
| 103 |
</body>
|
| 104 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
|
|
| 118 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 119 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 120 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 121 |
+
<site name="right_index_tip" pos="0.025 -0.022 0"/>
|
| 122 |
+
<site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 123 |
+
<site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 124 |
</body>
|
| 125 |
</body>
|
| 126 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
|
|
| 140 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 141 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 142 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 143 |
+
<site name="right_middle_tip" pos="0.025 -0.022 0"/>
|
| 144 |
+
<site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 145 |
+
<site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 146 |
</body>
|
| 147 |
</body>
|
| 148 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
|
|
| 162 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 163 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 164 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 165 |
+
<site name="right_ring_tip" pos="0.025 -0.022 0"/>
|
| 166 |
+
<site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 167 |
+
<site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 168 |
</body>
|
| 169 |
</body>
|
| 170 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
|
|
| 184 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 185 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 186 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 187 |
+
<site name="right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 188 |
+
<site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 189 |
+
<site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 190 |
</body>
|
| 191 |
</body>
|
| 192 |
</body>
|
|
|
|
| 231 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 232 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 233 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 234 |
+
<geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 235 |
+
<site name="left_thumb_tip" pos="0.059 0.025 0"/>
|
| 236 |
+
<site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 237 |
+
<site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 238 |
</body>
|
| 239 |
</body>
|
| 240 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
|
|
| 254 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 255 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 256 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 257 |
+
<site name="left_index_tip" pos="0.025 -0.022 0"/>
|
| 258 |
+
<site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 259 |
+
<site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 260 |
</body>
|
| 261 |
</body>
|
| 262 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
|
|
| 276 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 277 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 278 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 279 |
+
<site name="left_middle_tip" pos="0.025 -0.022 0"/>
|
| 280 |
+
<site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 281 |
+
<site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 282 |
</body>
|
| 283 |
</body>
|
| 284 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
|
|
| 298 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 299 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 300 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 301 |
+
<site name="left_ring_tip" pos="0.025 -0.022 0"/>
|
| 302 |
+
<site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 303 |
+
<site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 304 |
</body>
|
| 305 |
</body>
|
| 306 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
|
|
| 320 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 321 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 322 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 323 |
+
<site name="left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 324 |
+
<site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 325 |
+
<site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 326 |
</body>
|
| 327 |
</body>
|
| 328 |
</body>
|
|
|
|
| 333 |
</body>
|
| 334 |
<body name="right_object">
|
| 335 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 336 |
+
<geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
|
| 337 |
+
<geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
|
| 338 |
+
<geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
|
| 339 |
+
<geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
|
| 340 |
+
<geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
|
| 341 |
+
<geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
|
| 342 |
+
<geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
|
| 343 |
+
<geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
|
| 344 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 345 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 346 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 347 |
+
<site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 348 |
+
<site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 349 |
+
<site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 350 |
+
<site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 351 |
+
<site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 352 |
+
<site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 353 |
+
<site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 354 |
+
<site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 355 |
+
<site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 356 |
+
<site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 357 |
</body>
|
| 358 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 359 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 389 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 390 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 391 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 392 |
+
<site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 393 |
</body>
|
| 394 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 395 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 823 |
</contact>
|
| 824 |
|
| 825 |
<actuator>
|
| 826 |
+
<general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 827 |
+
<general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 828 |
+
<general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 829 |
+
<general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 830 |
+
<general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 831 |
+
<general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 832 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 833 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 834 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 839 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 840 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 841 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 842 |
+
<general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 843 |
+
<general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 844 |
+
<general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 845 |
+
<general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 846 |
+
<general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 847 |
+
<general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 848 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 849 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 850 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
processed/gigahand/ability/bimanual/p44-dog/scene_eq.xml
CHANGED
|
@@ -4,13 +4,19 @@
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
-
<site
|
| 8 |
-
<general biastype="affine" gainprm="
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 9 |
</default>
|
| 10 |
|
| 11 |
<asset>
|
| 12 |
-
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="
|
| 13 |
-
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="
|
| 14 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 15 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 16 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
@@ -89,10 +95,10 @@
|
|
| 89 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 90 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 91 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 92 |
-
<geom name="collision_hand_right_thumb_0" size="0.007 0.
|
| 93 |
-
<site name="right_thumb_tip" pos="0.
|
| 94 |
-
<site name="track_hand_right_thumb_tip" pos="0.
|
| 95 |
-
<site name="trace_hand_right_thumb_tip" pos="0.
|
| 96 |
</body>
|
| 97 |
</body>
|
| 98 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
@@ -112,9 +118,9 @@
|
|
| 112 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 113 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 114 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 115 |
-
<site name="right_index_tip" pos="0.
|
| 116 |
-
<site name="track_hand_right_index_tip" pos="0.
|
| 117 |
-
<site name="trace_hand_right_index_tip" pos="0.
|
| 118 |
</body>
|
| 119 |
</body>
|
| 120 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
@@ -134,9 +140,9 @@
|
|
| 134 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 135 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 136 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 137 |
-
<site name="right_middle_tip" pos="0.
|
| 138 |
-
<site name="track_hand_right_middle_tip" pos="0.
|
| 139 |
-
<site name="trace_hand_right_middle_tip" pos="0.
|
| 140 |
</body>
|
| 141 |
</body>
|
| 142 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
@@ -156,9 +162,9 @@
|
|
| 156 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 157 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 158 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 159 |
-
<site name="right_ring_tip" pos="0.
|
| 160 |
-
<site name="track_hand_right_ring_tip" pos="0.
|
| 161 |
-
<site name="trace_hand_right_ring_tip" pos="0.
|
| 162 |
</body>
|
| 163 |
</body>
|
| 164 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
@@ -178,9 +184,9 @@
|
|
| 178 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 179 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 180 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 181 |
-
<site name="right_pinky_tip" pos="0.
|
| 182 |
-
<site name="track_hand_right_pinky_tip" pos="0.
|
| 183 |
-
<site name="trace_hand_right_pinky_tip" pos="0.
|
| 184 |
</body>
|
| 185 |
</body>
|
| 186 |
</body>
|
|
@@ -225,10 +231,10 @@
|
|
| 225 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 226 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 227 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 228 |
-
<geom name="collision_hand_left_thumb_0" size="0.007 0.
|
| 229 |
-
<site name="left_thumb_tip" pos="0.
|
| 230 |
-
<site name="track_hand_left_thumb_tip" pos="0.
|
| 231 |
-
<site name="trace_hand_left_thumb_tip" pos="0.
|
| 232 |
</body>
|
| 233 |
</body>
|
| 234 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
@@ -248,9 +254,9 @@
|
|
| 248 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 249 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 250 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 251 |
-
<site name="left_index_tip" pos="0.
|
| 252 |
-
<site name="track_hand_left_index_tip" pos="0.
|
| 253 |
-
<site name="trace_hand_left_index_tip" pos="0.
|
| 254 |
</body>
|
| 255 |
</body>
|
| 256 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
@@ -270,9 +276,9 @@
|
|
| 270 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 271 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 272 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 273 |
-
<site name="left_middle_tip" pos="0.
|
| 274 |
-
<site name="track_hand_left_middle_tip" pos="0.
|
| 275 |
-
<site name="trace_hand_left_middle_tip" pos="0.
|
| 276 |
</body>
|
| 277 |
</body>
|
| 278 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
@@ -292,9 +298,9 @@
|
|
| 292 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 293 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 294 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 295 |
-
<site name="left_ring_tip" pos="0.
|
| 296 |
-
<site name="track_hand_left_ring_tip" pos="0.
|
| 297 |
-
<site name="trace_hand_left_ring_tip" pos="0.
|
| 298 |
</body>
|
| 299 |
</body>
|
| 300 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
@@ -314,9 +320,9 @@
|
|
| 314 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 315 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 316 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 317 |
-
<site name="left_pinky_tip" pos="0.
|
| 318 |
-
<site name="track_hand_left_pinky_tip" pos="0.
|
| 319 |
-
<site name="trace_hand_left_pinky_tip" pos="0.
|
| 320 |
</body>
|
| 321 |
</body>
|
| 322 |
</body>
|
|
@@ -327,27 +333,27 @@
|
|
| 327 |
</body>
|
| 328 |
<body name="right_object">
|
| 329 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 330 |
-
<geom name="right_object_0" type="mesh" group="3" density="
|
| 331 |
-
<geom name="right_object_1" type="mesh" group="3" density="
|
| 332 |
-
<geom name="right_object_2" type="mesh" group="3" density="
|
| 333 |
-
<geom name="right_object_3" type="mesh" group="3" density="
|
| 334 |
-
<geom name="right_object_4" type="mesh" group="3" density="
|
| 335 |
-
<geom name="right_object_5" type="mesh" group="3" density="
|
| 336 |
-
<geom name="right_object_6" type="mesh" group="3" density="
|
| 337 |
-
<geom name="right_object_7" type="mesh" group="3" density="
|
| 338 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 339 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 340 |
-
<site name="trace_right_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 341 |
-
<site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" group="4" rgba="0 1 0 1"/>
|
| 342 |
-
<site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" group="4" rgba="0 1 0 1"/>
|
| 343 |
-
<site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" group="4" rgba="0 1 0 1"/>
|
| 344 |
-
<site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" group="4" rgba="0 1 0 1"/>
|
| 345 |
-
<site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" group="4" rgba="0 1 0 1"/>
|
| 346 |
-
<site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" group="4" rgba="0 1 0 1"/>
|
| 347 |
-
<site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" group="4" rgba="0 1 0 1"/>
|
| 348 |
-
<site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" group="4" rgba="0 1 0 1"/>
|
| 349 |
-
<site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" group="4" rgba="0 1 0 1"/>
|
| 350 |
-
<site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" group="4" rgba="0 1 0 1"/>
|
| 351 |
</body>
|
| 352 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 353 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -383,7 +389,7 @@
|
|
| 383 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 384 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 385 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 386 |
-
<site name="trace_left_object" pos="0 0 0" group="4" rgba="0 1 0 1"/>
|
| 387 |
</body>
|
| 388 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 389 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
@@ -840,12 +846,12 @@
|
|
| 840 |
</equality>
|
| 841 |
|
| 842 |
<actuator>
|
| 843 |
-
<general name="L_forearm_tx_position" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 844 |
-
<general name="L_forearm_ty_position" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 845 |
-
<general name="L_forearm_tz_position" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 846 |
-
<general name="L_forearm_roll_position" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 847 |
-
<general name="L_forearm_pitch_position" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 848 |
-
<general name="L_forearm_yaw_position" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 849 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 850 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 851 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
@@ -856,12 +862,12 @@
|
|
| 856 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 857 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 858 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 859 |
-
<general name="R_forearm_tx_position" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"
|
| 860 |
-
<general name="R_forearm_ty_position" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"
|
| 861 |
-
<general name="R_forearm_tz_position" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"
|
| 862 |
-
<general name="R_forearm_roll_position" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"
|
| 863 |
-
<general name="R_forearm_pitch_position" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"
|
| 864 |
-
<general name="R_forearm_yaw_position" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"
|
| 865 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 866 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 867 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 4 |
<default>
|
| 5 |
<joint armature="1"/>
|
| 6 |
<geom contype="0" conaffinity="0" condim="1" density="800"/>
|
| 7 |
+
<site group="3" rgba="1 0 0 1"/>
|
| 8 |
+
<general biastype="affine" gainprm="100" biasprm="0 -100 1"/>
|
| 9 |
+
<default class="right_base">
|
| 10 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 11 |
+
</default>
|
| 12 |
+
<default class="left_base">
|
| 13 |
+
<general gainprm="1000" biasprm="0 -1000"/>
|
| 14 |
+
</default>
|
| 15 |
</default>
|
| 16 |
|
| 17 |
<asset>
|
| 18 |
+
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="1 1 1" rgb2="1 1 1" width="512" height="3072"/>
|
| 19 |
+
<texture type="2d" colorspace="auto" name="right_groundplane" builtin="checker" mark="edge" rgb1="1 1 1" rgb2="1 1 1" markrgb="1 1 1" width="300" height="300"/>
|
| 20 |
<texture type="skybox" colorspace="auto" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
| 21 |
<texture type="2d" colorspace="auto" name="left_groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
|
| 22 |
<texture type="cube" colorspace="auto" name="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
|
|
|
|
| 95 |
<joint name="right_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 96 |
<geom name="right_thumb_mesh_2" pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="right_thumb-F2"/>
|
| 97 |
<geom pos="0.0651867 0.0233402 -0.00393483" quat="3.21978e-07 0.985259 0.171069 5.59046e-08" type="mesh" mesh="right_thumb-F2_C"/>
|
| 98 |
+
<geom name="collision_hand_right_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 99 |
+
<site name="right_thumb_tip" pos="0.059 0.025 0"/>
|
| 100 |
+
<site name="track_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 101 |
+
<site name="trace_hand_right_thumb_tip" pos="0.059 0.025 0"/>
|
| 102 |
</body>
|
| 103 |
</body>
|
| 104 |
<body name="right_index_L1" pos="0.0279216 -0.00927034 0.0958706" quat="-0.714459 -0.129917 0.685906 0.0469401">
|
|
|
|
| 118 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 119 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 120 |
<geom name="collision_hand_right_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 121 |
+
<site name="right_index_tip" pos="0.025 -0.022 0"/>
|
| 122 |
+
<site name="track_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 123 |
+
<site name="trace_hand_right_index_tip" pos="0.025 -0.022 0"/>
|
| 124 |
</body>
|
| 125 |
</body>
|
| 126 |
<body name="right_middle_L1" pos="0.00841718 -0.0115172 0.0990634" quat="-0.698395 -0.103508 0.704562 0.0715738">
|
|
|
|
| 140 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 141 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 142 |
<geom name="collision_hand_right_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 143 |
+
<site name="right_middle_tip" pos="0.025 -0.022 0"/>
|
| 144 |
+
<site name="track_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 145 |
+
<site name="trace_hand_right_middle_tip" pos="0.025 -0.022 0"/>
|
| 146 |
</body>
|
| 147 |
</body>
|
| 148 |
<body name="right_ring_L1" pos="-0.0117529 -0.0103946 0.0967038" quat="-0.681173 -0.0769649 0.721351 0.0986547">
|
|
|
|
| 162 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 163 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 164 |
<geom name="collision_hand_right_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 165 |
+
<site name="right_ring_tip" pos="0.025 -0.022 0"/>
|
| 166 |
+
<site name="track_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 167 |
+
<site name="trace_hand_right_ring_tip" pos="0.025 -0.022 0"/>
|
| 168 |
</body>
|
| 169 |
</body>
|
| 170 |
<body name="right_pinky_L1" pos="-0.0308633 -0.00716283 0.0907346" quat="-0.681748 -0.0544096 0.719226 0.122363">
|
|
|
|
| 184 |
<geom type="mesh" mesh="right_idx-F2_C"/>
|
| 185 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 186 |
<geom name="collision_hand_right_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 187 |
+
<site name="right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 188 |
+
<site name="track_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 189 |
+
<site name="trace_hand_right_pinky_tip" pos="0.025 -0.022 0"/>
|
| 190 |
</body>
|
| 191 |
</body>
|
| 192 |
</body>
|
|
|
|
| 231 |
<joint name="left_thumb_q2" pos="0 0 0" axis="0 0 1" range="0 1"/>
|
| 232 |
<geom name="left_thumb_mesh_2" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="1" density="0" mesh="left_thumb-F2"/>
|
| 233 |
<geom name="collision_hand_left_thumb_1" pos="0.0651867 0.0233402 0.00393483" quat="3.21978e-07 -0.985259 -0.171069 5.59046e-08" type="mesh" group="3" mesh="left_thumb-F2_C"/>
|
| 234 |
+
<geom name="collision_hand_left_thumb_0" size="0.007 0.032039" pos="0.0295 0.0125 0" quat="0.707107 0.275877 -0.65107 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 235 |
+
<site name="left_thumb_tip" pos="0.059 0.025 0"/>
|
| 236 |
+
<site name="track_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 237 |
+
<site name="trace_hand_left_thumb_tip" pos="0.059 0.025 0"/>
|
| 238 |
</body>
|
| 239 |
</body>
|
| 240 |
<body name="left_index_L1" pos="-0.0279216 -0.00927034 0.0958706" quat="0.685906 0.0469401 -0.714459 -0.129917">
|
|
|
|
| 254 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 255 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 256 |
<geom name="collision_hand_left_index_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 257 |
+
<site name="left_index_tip" pos="0.025 -0.022 0"/>
|
| 258 |
+
<site name="track_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 259 |
+
<site name="trace_hand_left_index_tip" pos="0.025 -0.022 0"/>
|
| 260 |
</body>
|
| 261 |
</body>
|
| 262 |
<body name="left_middle_L1" pos="-0.00841718 -0.0115172 0.0990634" quat="0.704562 0.0715738 -0.698395 -0.103508">
|
|
|
|
| 276 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 277 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 278 |
<geom name="collision_hand_left_middle_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 279 |
+
<site name="left_middle_tip" pos="0.025 -0.022 0"/>
|
| 280 |
+
<site name="track_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 281 |
+
<site name="trace_hand_left_middle_tip" pos="0.025 -0.022 0"/>
|
| 282 |
</body>
|
| 283 |
</body>
|
| 284 |
<body name="left_ring_L1" pos="0.0117529 -0.0103946 0.0967038" quat="0.721351 0.0986547 -0.681173 -0.0769649">
|
|
|
|
| 298 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 299 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 300 |
<geom name="collision_hand_left_ring_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 301 |
+
<site name="left_ring_tip" pos="0.025 -0.022 0"/>
|
| 302 |
+
<site name="track_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 303 |
+
<site name="trace_hand_left_ring_tip" pos="0.025 -0.022 0"/>
|
| 304 |
</body>
|
| 305 |
</body>
|
| 306 |
<body name="left_pinky_L1" pos="0.0308633 -0.00716283 0.0907346" quat="0.719226 0.122363 -0.681748 -0.0544096">
|
|
|
|
| 320 |
<geom type="mesh" mesh="left_idx-F2_C"/>
|
| 321 |
<geom size="0.007" pos="0.03 -0.016 0"/>
|
| 322 |
<geom name="collision_hand_left_pinky_0" size="0.007 0.017" pos="0.015 -0.008 0" quat="0.707107 -0.332756 -0.623918 0" type="capsule" group="3" density="0" rgba="0 1 0 1"/>
|
| 323 |
+
<site name="left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 324 |
+
<site name="track_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 325 |
+
<site name="trace_hand_left_pinky_tip" pos="0.025 -0.022 0"/>
|
| 326 |
</body>
|
| 327 |
</body>
|
| 328 |
</body>
|
|
|
|
| 333 |
</body>
|
| 334 |
<body name="right_object">
|
| 335 |
<joint name="right_object_joint" type="free" armature="0.0001" frictionloss="0.0001"/>
|
| 336 |
+
<geom name="right_object_0" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_0"/>
|
| 337 |
+
<geom name="right_object_1" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_1"/>
|
| 338 |
+
<geom name="right_object_2" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_2"/>
|
| 339 |
+
<geom name="right_object_3" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_3"/>
|
| 340 |
+
<geom name="right_object_4" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_4"/>
|
| 341 |
+
<geom name="right_object_5" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_5"/>
|
| 342 |
+
<geom name="right_object_6" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_6"/>
|
| 343 |
+
<geom name="right_object_7" type="mesh" group="3" density="1000" rgba="0 1 0 1" mesh="right_7"/>
|
| 344 |
<geom name="right_object_visual" type="mesh" density="0" rgba="1 1 1 1" mesh="right_visual"/>
|
| 345 |
<site name="right_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 346 |
+
<site name="trace_right_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 347 |
+
<site name="track_object_right_thumb_tip" pos="0.488538 0.502738 0.226069" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 348 |
+
<site name="track_object_right_index_tip" pos="0.481454 0.462496 0.25232" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 349 |
+
<site name="track_object_right_middle_tip" pos="0.487346 0.445236 0.262742" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 350 |
+
<site name="track_object_right_ring_tip" pos="0.485084 0.424739 0.25998" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 351 |
+
<site name="track_object_right_pinky_tip" pos="0.47994 0.402691 0.248631" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 352 |
+
<site name="track_object_left_thumb_tip" pos="0.592561 0.472715 0.214631" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 353 |
+
<site name="track_object_left_index_tip" pos="0.562402 0.418768 0.215825" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 354 |
+
<site name="track_object_left_middle_tip" pos="0.548796 0.412107 0.206621" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 355 |
+
<site name="track_object_left_ring_tip" pos="0.559598 0.418761 0.234991" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 356 |
+
<site name="track_object_left_pinky_tip" pos="0.576617 0.411465 0.270377" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 357 |
</body>
|
| 358 |
<body name="ref_object_right_thumb_tip" mocap="true">
|
| 359 |
<site name="ref_object_right_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 389 |
<joint name="left_object_joint" type="free" frictionloss="1"/>
|
| 390 |
<geom name="left_object_mass" size="0.1" pos="0.5 0.5 0.5" group="3" density="10"/>
|
| 391 |
<site name="left_object" pos="0 0 0" size="0.01 0.02 0.03" type="box"/>
|
| 392 |
+
<site name="trace_left_object" pos="0 0 0" size="0.01" group="4" rgba="0 1 0 1"/>
|
| 393 |
</body>
|
| 394 |
<body name="ref_object_left_thumb_tip" mocap="true">
|
| 395 |
<site name="ref_object_left_thumb_tip" pos="0 0 0" size="0.02" group="4" rgba="0 1 0 1"/>
|
|
|
|
| 846 |
</equality>
|
| 847 |
|
| 848 |
<actuator>
|
| 849 |
+
<general name="L_forearm_tx_position" class="right_base" joint="L_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 850 |
+
<general name="L_forearm_ty_position" class="right_base" joint="L_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 851 |
+
<general name="L_forearm_tz_position" class="right_base" joint="L_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 852 |
+
<general name="L_forearm_roll_position" class="right_base" joint="L_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 853 |
+
<general name="L_forearm_pitch_position" class="right_base" joint="L_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 854 |
+
<general name="L_forearm_yaw_position" class="right_base" joint="L_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 855 |
<general name="right_thumb_q1_position" joint="right_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 856 |
<general name="right_thumb_q2_position" joint="right_thumb_q2" ctrlrange="0 1"/>
|
| 857 |
<general name="right_index_q1_position" joint="right_index_q1" ctrlrange="0 1"/>
|
|
|
|
| 862 |
<general name="right_ring_q2_position" joint="right_ring_q2" ctrlrange="0 1"/>
|
| 863 |
<general name="right_pinky_q1_position" joint="right_pinky_q1" ctrlrange="0 1"/>
|
| 864 |
<general name="right_pinky_q2_position" joint="right_pinky_q2" ctrlrange="0 1"/>
|
| 865 |
+
<general name="R_forearm_tx_position" class="left_base" joint="R_forearm_tx_link_joint" ctrlrange="-5 5"/>
|
| 866 |
+
<general name="R_forearm_ty_position" class="left_base" joint="R_forearm_ty_link_joint" ctrlrange="-5 5"/>
|
| 867 |
+
<general name="R_forearm_tz_position" class="left_base" joint="R_forearm_tz_link_joint" ctrlrange="-5 5"/>
|
| 868 |
+
<general name="R_forearm_roll_position" class="left_base" joint="R_forearm_roll_link_joint" ctrlrange="-6.2 6.2"/>
|
| 869 |
+
<general name="R_forearm_pitch_position" class="left_base" joint="R_forearm_pitch_link_joint" ctrlrange="-6.2 6.2"/>
|
| 870 |
+
<general name="R_forearm_yaw_position" class="left_base" joint="R_forearm_yaw_link_joint" ctrlrange="-6.2 6.2"/>
|
| 871 |
<general name="left_thumb_q1_position" joint="left_thumb_q1" ctrlrange="-1.8 -0.6"/>
|
| 872 |
<general name="left_thumb_q2_position" joint="left_thumb_q2" ctrlrange="0 1"/>
|
| 873 |
<general name="left_index_q1_position" joint="left_index_q1" ctrlrange="0 1"/>
|