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left_hand.xml
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left_hand.xml
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<mujoco model="left_shadow_hand">
<compiler angle="radian" meshdir="assets" autolimits="true"/>
<option cone="elliptic" impratio="10"/>
<default>
<default class="left_hand">
<mesh scale="0.001 0.001 0.001"/>
<joint axis="1 0 0" damping="0.05" armature="0.0002" frictionloss="0.01"/>
<position forcerange="-1 1"/>
<default class="wrist">
<joint damping="0.5"/>
<default class="wrist_y">
<joint axis="0 -1 0" range="-0.523599 0.174533"/>
<position kp="10" ctrlrange="-0.523599 0.174533" forcerange="-10 10"/>
</default>
<default class="wrist_x">
<joint range="-0.698132 0.488692"/>
<position kp="8" ctrlrange="-0.698132 0.488692" forcerange="-5 5"/>
</default>
</default>
<default class="thumb">
<default class="thbase">
<joint axis="0 0 1" range="-1.0472 1.0472"/>
<position kp="0.4" ctrlrange="-1.0472 1.0472" forcerange="-3 3"/>
</default>
<default class="thproximal">
<joint axis="-1 0 0" range="0 1.22173"/>
<position ctrlrange="0 1.22173" forcerange="-2 2"/>
</default>
<default class="thhub">
<joint axis="-1 0 0" range="-0.20944 0.20944"/>
<position kp="0.5" ctrlrange="-0.20944 0.20944"/>
</default>
<default class="thmiddle">
<joint axis="0 -1 0" range="-0.698132 0.698132"/>
<position kp="1.5" ctrlrange="-0.698132 0.698132"/>
</default>
<default class="thdistal">
<joint range="-0.261799 1.5708"/>
<position ctrlrange="-0.261799 1.5708"/>
</default>
</default>
<default class="metacarpal">
<joint axis="0.573576 0 0.819152" range="0 0.785398"/>
<position ctrlrange="0 0.785398"/>
</default>
<default class="knuckle">
<joint axis="0 -1 0" range="-0.349066 0.349066"/>
<position ctrlrange="-0.349066 0.349066"/>
</default>
<default class="proximal">
<joint range="-0.261799 1.5708"/>
<position ctrlrange="-0.261799 1.5708"/>
</default>
<default class="middle_distal">
<joint range="0 1.5708"/>
<position kp="0.5" ctrlrange="0 3.1415"/>
</default>
<default class="plastic">
<geom solimp="0.5 0.99 0.0001" solref="0.005 1"/>
<default class="plastic_visual">
<geom type="mesh" material="black" contype="0" conaffinity="0" group="2"/>
</default>
<default class="plastic_collision">
<geom group="3"/>
</default>
</default>
</default>
</default>
<asset>
<material name="black" specular="0.5" shininess="0.25" rgba="0.16355 0.16355 0.16355 1"/>
<material name="gray" specular="0.0" shininess="0.25" rgba="0.80848 0.80848 0.80848 1"/>
<material name="metallic" specular="0" shininess="0.25" rgba="0.9 0.9 0.9 1"/>
<mesh class="left_hand" file="forearm_0.obj"/>
<mesh class="left_hand" file="forearm_1.obj"/>
<mesh class="left_hand" file="forearm_collision.obj"/>
<mesh class="left_hand" file="wrist.obj" scale="-0.001 0.001 0.001"/>
<mesh class="left_hand" file="palm.obj" scale="-0.001 0.001 0.001"/>
<mesh class="left_hand" file="f_knuckle.obj"/>
<mesh class="left_hand" file="f_proximal.obj"/>
<mesh class="left_hand" file="f_middle.obj"/>
<mesh class="left_hand" file="f_distal_pst.obj"/>
<mesh class="left_hand" file="lf_metacarpal.obj" scale="-0.001 0.001 0.001"/>
<mesh class="left_hand" file="th_proximal.obj"/>
<mesh class="left_hand" file="th_middle.obj"/>
<mesh class="left_hand" file="th_distal_pst.obj"/>
</asset>
<worldbody>
<body name="lh_forearm" childclass="left_hand" quat="0 1 0 1">
<inertial mass="3" pos="0 0 0.09" diaginertia="0.0138 0.0138 0.00744"/>
<geom class="plastic_visual" mesh="forearm_0" material="gray"/>
<geom class="plastic_visual" mesh="forearm_1"/>
<geom class="plastic_collision" type="mesh" mesh="forearm_collision"/>
<geom class="plastic_collision" size="0.035 0.035 0.035" pos="0.01 0.0 0.181" quat="0.380188 0.924909 0 0"
type="box"/>
<body name="lh_wrist" pos="0.01 0 0.21301" quat="1 0 0 1">
<inertial mass="0.1" pos="0 0 0.029" quat="0.5 0.5 0.5 0.5" diaginertia="6.4e-05 4.38e-05 3.5e-05"/>
<joint class="wrist_y" name="lh_WRJ2"/>
<geom class="plastic_visual" mesh="wrist" material="metallic"/>
<geom size="0.0135 0.015" quat="0.499998 0.5 0.5 -0.500002" type="cylinder" class="plastic_collision"/>
<geom size="0.011 0.005" pos="0.026 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
<geom size="0.011 0.005" pos="-0.031 0 0.034" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
<geom size="0.0135 0.009 0.005" pos="0.021 0 0.011" quat="-0.923879 0 0.382684 0" type="box"
class="plastic_collision"/>
<geom size="0.0135 0.009 0.005" pos="-0.026 0 0.01" quat="-0.923879 0 -0.382684 0" type="box"
class="plastic_collision"/>
<body name="lh_palm" pos="0 0 0.034">
<inertial mass="0.3" pos="0 0 0.035" quat="1 0 0 1" diaginertia="0.0005287 0.0003581 0.000191"/>
<joint class="wrist_x" name="lh_WRJ1"/>
<geom class="plastic_visual" mesh="palm"/>
<geom size="0.031 0.0035 0.049" pos="-0.011 0.0085 0.038" type="box" class="plastic_collision"/>
<geom size="0.018 0.0085 0.049" pos="0.002 -0.0035 0.038" type="box" class="plastic_collision"/>
<geom size="0.013 0.0085 0.005" pos="-0.029 -0.0035 0.082" type="box" class="plastic_collision"/>
<geom size="0.013 0.007 0.009" pos="-0.0265 -0.001 0.07" quat="0.987241 0.0990545 0.0124467 -0.124052"
type="box" class="plastic_collision"/>
<geom size="0.0105 0.0135 0.0112" pos="-0.0315 -0.0085 0.001" type="box" class="plastic_collision"/>
<geom size="0.011 0.0025 0.015" pos="-0.0125 -0.015 0.004" quat="-0.971338 0 0 -0.237703" type="box"
class="plastic_collision"/>
<geom size="0.009 0.012 0.002" pos="-0.011 0 0.089" type="box" class="plastic_collision"/>
<geom size="0.01 0.012 0.02" pos="0.03 0 0.009" type="box" class="plastic_collision"/>
<body name="lh_ffknuckle" pos="-0.033 0 0.095">
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<joint name="lh_FFJ4" class="knuckle" axis="0 1 0"/>
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
<body name="lh_ffproximal">
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
<joint name="lh_FFJ3" class="proximal"/>
<geom class="plastic_visual" mesh="f_proximal"/>
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
<body name="lh_ffmiddle" pos="0 0 0.045">
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
<joint name="lh_FFJ2" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_middle"/>
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
<body name="lh_ffdistal" pos="0 0 0.025">
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="lh_FFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
</body>
</body>
</body>
</body>
<body name="lh_mfknuckle" pos="-0.011 0 0.099">
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<joint name="lh_MFJ4" class="knuckle" axis="0 1 0"/>
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
<body name="lh_mfproximal">
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
<joint name="lh_MFJ3" class="proximal"/>
<geom class="plastic_visual" mesh="f_proximal"/>
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
<body name="lh_mfmiddle" pos="0 0 0.045">
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
<joint name="lh_MFJ2" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_middle"/>
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
<body name="lh_mfdistal" pos="0 0 0.025">
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="lh_MFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
</body>
</body>
</body>
</body>
<body name="lh_rfknuckle" pos="0.011 0 0.095">
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<joint name="lh_RFJ4" class="knuckle"/>
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
<body name="lh_rfproximal">
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
<joint name="lh_RFJ3" class="proximal"/>
<geom class="plastic_visual" mesh="f_proximal"/>
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
<body name="lh_rfmiddle" pos="0 0 0.045">
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
<joint name="lh_RFJ2" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_middle"/>
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
<body name="lh_rfdistal" pos="0 0 0.025">
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="lh_RFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
</body>
</body>
</body>
</body>
<body name="lh_lfmetacarpal" pos="0.033 0 0.02071">
<inertial mass="0.03" pos="0 0 0.04" quat="1 0 0 1" diaginertia="1.638e-05 1.45e-05 4.272e-06"/>
<joint name="lh_LFJ5" class="metacarpal" axis="0.573576 0 -0.819152"/>
<geom class="plastic_visual" mesh="lf_metacarpal"/>
<geom size="0.011 0.012 0.025" pos="-0.002 0 0.033" type="box" class="plastic_collision"/>
<body name="lh_lfknuckle" pos="0 0 0.06579">
<inertial mass="0.008" pos="0 0 0" quat="0.5 0.5 -0.5 0.5" diaginertia="3.2e-07 2.6e-07 2.6e-07"/>
<joint name="lh_LFJ4" class="knuckle"/>
<geom pos="0 0 0.0005" class="plastic_visual" mesh="f_knuckle" material="metallic"/>
<geom size="0.009 0.009" quat="1 0 1 0" type="cylinder" class="plastic_collision"/>
<body name="lh_lfproximal">
<inertial mass="0.03" pos="0 0 0.0225" quat="1 0 0 1" diaginertia="1e-05 9.8e-06 1.8e-06"/>
<joint name="lh_LFJ3" class="proximal"/>
<geom class="plastic_visual" mesh="f_proximal"/>
<geom size="0.009 0.02" pos="0 0 0.025" type="capsule" class="plastic_collision"/>
<body name="lh_lfmiddle" pos="0 0 0.045">
<inertial mass="0.017" pos="0 0 0.0125" quat="1 0 0 1" diaginertia="2.7e-06 2.6e-06 8.7e-07"/>
<joint name="lh_LFJ2" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_middle"/>
<geom size="0.009 0.0125" pos="0 0 0.0125" type="capsule" class="plastic_collision"/>
<body name="lh_lfdistal" pos="0 0 0.025">
<inertial mass="0.013" pos="0 0 0.0130769" quat="1 0 0 1"
diaginertia="1.28092e-06 1.12092e-06 5.3e-07"/>
<joint name="lh_LFJ1" class="middle_distal"/>
<geom class="plastic_visual" mesh="f_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="f_distal_pst"/>
</body>
</body>
</body>
</body>
</body>
<body name="lh_thbase" pos="-0.034 -0.00858 0.029" quat="0 -0.382683 0 0.92388">
<inertial mass="0.01" pos="0 0 0" diaginertia="1.6e-07 1.6e-07 1.6e-07"/>
<joint name="lh_THJ5" class="thbase"/>
<geom class="plastic_collision" size="0.013"/>
<body name="lh_thproximal">
<inertial mass="0.04" pos="0 0 0.019" diaginertia="1.36e-05 1.36e-05 3.13e-06"/>
<joint name="lh_THJ4" class="thproximal"/>
<geom class="plastic_visual" mesh="th_proximal"/>
<geom class="plastic_collision" size="0.0105 0.009" pos="0 0 0.02" type="capsule"/>
<body name="lh_thhub" pos="0 0 0.038">
<inertial mass="0.005" pos="0 0 0" diaginertia="1e-06 1e-06 3e-07"/>
<joint name="lh_THJ3" class="thhub"/>
<geom size="0.011" class="plastic_collision"/>
<body name="lh_thmiddle">
<inertial mass="0.02" pos="0 0 0.016" diaginertia="5.1e-06 5.1e-06 1.21e-06"/>
<joint name="lh_THJ2" class="thmiddle"/>
<geom class="plastic_visual" mesh="th_middle"/>
<geom size="0.009 0.009" pos="0 0 0.012" type="capsule" class="plastic_collision"/>
<geom size="0.01" pos="0 0 0.03" class="plastic_collision"/>
<body name="lh_thdistal" pos="0 0 0.032" quat="1 0 0 -1">
<inertial mass="0.017" pos="0 0 0.0145588" quat="1 0 0 1"
diaginertia="2.37794e-06 2.27794e-06 1e-06"/>
<joint name="lh_THJ1" class="thdistal"/>
<geom class="plastic_visual" mesh="th_distal_pst"/>
<geom class="plastic_collision" type="mesh" mesh="th_distal_pst"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<contact>
<exclude body1="lh_wrist" body2="lh_forearm"/>
<exclude body1="lh_thproximal" body2="lh_thmiddle"/>
</contact>
<tendon>
<fixed name="lh_FFJ0">
<joint joint="lh_FFJ2" coef="1"/>
<joint joint="lh_FFJ1" coef="1"/>
</fixed>
<fixed name="lh_MFJ0">
<joint joint="lh_MFJ2" coef="1"/>
<joint joint="lh_MFJ1" coef="1"/>
</fixed>
<fixed name="lh_RFJ0">
<joint joint="lh_RFJ2" coef="1"/>
<joint joint="lh_RFJ1" coef="1"/>
</fixed>
<fixed name="lh_LFJ0">
<joint joint="lh_LFJ2" coef="1"/>
<joint joint="lh_LFJ1" coef="1"/>
</fixed>
</tendon>
<actuator>
<position name="lh_A_WRJ2" joint="lh_WRJ2" class="wrist_y"/>
<position name="lh_A_WRJ1" joint="lh_WRJ1" class="wrist_x"/>
<position name="lh_A_THJ5" joint="lh_THJ5" class="thbase"/>
<position name="lh_A_THJ4" joint="lh_THJ4" class="thproximal"/>
<position name="lh_A_THJ3" joint="lh_THJ3" class="thhub"/>
<position name="lh_A_THJ2" joint="lh_THJ2" class="thmiddle"/>
<position name="lh_A_THJ1" joint="lh_THJ1" class="thdistal"/>
<position name="lh_A_FFJ4" joint="lh_FFJ4" class="knuckle"/>
<position name="lh_A_FFJ3" joint="lh_FFJ3" class="proximal"/>
<position name="lh_A_FFJ0" tendon="lh_FFJ0" class="middle_distal"/>
<position name="lh_A_MFJ4" joint="lh_MFJ4" class="knuckle"/>
<position name="lh_A_MFJ3" joint="lh_MFJ3" class="proximal"/>
<position name="lh_A_MFJ0" tendon="lh_MFJ0" class="middle_distal"/>
<position name="lh_A_RFJ4" joint="lh_RFJ4" class="knuckle"/>
<position name="lh_A_RFJ3" joint="lh_RFJ3" class="proximal"/>
<position name="lh_A_RFJ0" tendon="lh_RFJ0" class="middle_distal"/>
<position name="lh_A_LFJ5" joint="lh_LFJ5" class="metacarpal"/>
<position name="lh_A_LFJ4" joint="lh_LFJ4" class="knuckle"/>
<position name="lh_A_LFJ3" joint="lh_LFJ3" class="proximal"/>
<position name="lh_A_LFJ0" tendon="lh_LFJ0" class="middle_distal"/>
</actuator>
</mujoco>