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[update] 1. upgrade URDF 2. fix kp/kd bug 3. support new dex3 hand

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silencht 1 year ago
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f7bdf9ce48
113 changed files with 8783 additions and 10770 deletions
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  1. 3
      .gitignore
  2. 77
      assets/g1/README.md
  3. 490
      assets/g1/g1_body29_hand14.urdf
  4. 269
      assets/g1/g1_body29_hand14.xml
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  21. BIN
      assets/g1/meshes/left_rubber_hand.STL
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  23. BIN
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  24. BIN
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  43. BIN
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  44. BIN
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      assets/g1/meshes/waist_roll_link_rev_1_0.STL
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      assets/g1/meshes/waist_yaw_link_rev_1_0.STL
  47. BIN
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  48. 514
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  50. 690
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  51. BIN
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  52. 450
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  53. BIN
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  55. BIN
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  56. 450
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  57. BIN
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  59. BIN
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  60. 514
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  61. BIN
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  62. 1408
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  77. 514
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  78. BIN
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  79. 690
      assets/unitree_hand/meshes/right_hand_four_link.STL.convex.stl
  80. BIN
      assets/unitree_hand/meshes/right_hand_index_0_link.STL
  81. 450
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  82. BIN
      assets/unitree_hand/meshes/right_hand_index_1_link.STL
  83. 738
      assets/unitree_hand/meshes/right_hand_index_1_link.STL.convex.stl
  84. BIN
      assets/unitree_hand/meshes/right_hand_middle_0_link.STL
  85. 450
      assets/unitree_hand/meshes/right_hand_middle_0_link.STL.convex.stl
  86. BIN
      assets/unitree_hand/meshes/right_hand_middle_1_link.STL
  87. 738
      assets/unitree_hand/meshes/right_hand_middle_1_link.STL.convex.stl
  88. BIN
      assets/unitree_hand/meshes/right_hand_one_link.STL
  89. 514
      assets/unitree_hand/meshes/right_hand_one_link.STL.convex.stl
  90. BIN
      assets/unitree_hand/meshes/right_hand_palm_link.STL
  91. 1408
      assets/unitree_hand/meshes/right_hand_palm_link.STL.convex.stl
  92. BIN
      assets/unitree_hand/meshes/right_hand_six_link.STL
  93. 690
      assets/unitree_hand/meshes/right_hand_six_link.STL.convex.stl
  94. BIN
      assets/unitree_hand/meshes/right_hand_three_link.STL
  95. 514
      assets/unitree_hand/meshes/right_hand_three_link.STL.convex.stl
  96. BIN
      assets/unitree_hand/meshes/right_hand_thumb_0_link.STL
  97. 194
      assets/unitree_hand/meshes/right_hand_thumb_0_link.STL.convex.stl
  98. BIN
      assets/unitree_hand/meshes/right_hand_thumb_1_link.STL
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      assets/unitree_hand/meshes/right_hand_thumb_2_link.STL
  100. 738
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3
.gitignore
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@ -19,4 +19,5 @@ __MACOSX/
!real_right_hand.jpg
!wrist_and_ring_mount.png
teleop/data/
teleop/utils/episode_0*
teleop/utils/episode_0*
teleop/utils/data/episode_0*

77
assets/g1/README.md
View File

@ -2,62 +2,21 @@
## Overview
This package includes a streamlined robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
<p align="center"><img src="g1.png" width="500"/></p>
Unitree G1 have 43 DOFs:
```text
root [⚓] => /pelvis/
left_hip_pitch_joint [⚙+Y] => /left_hip_pitch_link/
left_hip_roll_joint [⚙+X] => /left_hip_roll_link/
left_hip_yaw_joint [⚙+Z] => /left_hip_yaw_link/
left_knee_joint [⚙+Y] => /left_knee_link/
left_ankle_pitch_joint [⚙+Y] => /left_ankle_pitch_link/
left_ankle_roll_joint [⚙+X] => /left_ankle_roll_link/
right_hip_pitch_joint [⚙+Y] => /right_hip_pitch_link/
right_hip_roll_joint [⚙+X] => /right_hip_roll_link/
right_hip_yaw_joint [⚙+Z] => /right_hip_yaw_link/
right_knee_joint [⚙+Y] => /right_knee_link/
right_ankle_pitch_joint [⚙+Y] => /right_ankle_pitch_link/
right_ankle_roll_joint [⚙+X] => /right_ankle_roll_link/
waist_yaw_joint [⚙+Z] => /waist_yaw_link/
waist_roll_joint [⚙+X] => /waist_roll_link/
waist_pitch_joint [⚙+Y] => /torso_link/
logo_joint [⚓] => /logo_link/
head_joint [⚓] => /head_link/
left_shoulder_pitch_joint [⚙+Y] => /left_shoulder_pitch_link/
left_shoulder_roll_joint [⚙+X] => /left_shoulder_roll_link/
left_shoulder_yaw_joint [⚙+Z] => /left_shoulder_yaw_link/
left_elbow_joint [⚙+Y] => /left_elbow_link/
left_wrist_roll_joint [⚙+X] => /left_wrist_roll_link/
left_wrist_pitch_joint [⚙+Y] => /left_wrist_pitch_link/
left_wrist_yaw_joint [⚙+Z] => /left_wrist_yaw_link/
left_hand_palm_joint [⚓] => /left_hand_palm_link/
left_hand_zero_joint [⚙+Y] => /left_hand_zero_link/
left_hand_one_joint [⚙+Z] => /left_hand_one_link/
left_hand_two_joint [⚙+Z] => /left_hand_two_link/
left_hand_three_joint [⚙+Z] => /left_hand_three_link/
left_hand_four_joint [⚙+Z] => /left_hand_four_link/
left_hand_five_joint [⚙+Z] => /left_hand_five_link/
left_hand_six_joint [⚙+Z] => /left_hand_six_link/
right_shoulder_pitch_joint [⚙+Y] => /right_shoulder_pitch_link/
right_shoulder_roll_joint [⚙+X] => /right_shoulder_roll_link/
right_shoulder_yaw_joint [⚙+Z] => /right_shoulder_yaw_link/
right_elbow_joint [⚙+Y] => /right_elbow_link/
right_wrist_roll_joint [⚙+X] => /right_wrist_roll_link/
right_wrist_pitch_joint [⚙+Y] => /right_wrist_pitch_link/
right_wrist_yaw_joint [⚙+Z] => /right_wrist_yaw_link/
right_hand_palm_joint [⚓] => /right_hand_palm_link/
right_hand_zero_joint [⚙+Y] => /right_hand_zero_link/
right_hand_one_joint [⚙+Z] => /right_hand_one_link/
right_hand_two_joint [⚙+Z] => /right_hand_two_link/
right_hand_three_joint [⚙+Z] => /right_hand_three_link/
right_hand_four_joint [⚙+Z] => /right_hand_four_link/
right_hand_five_joint [⚙+Z] => /right_hand_five_link/
right_hand_six_joint [⚙+Z] => /right_hand_six_link/
```
This package includes a universal humanoid robot description (URDF & MJCF) for the [Unitree G1](https://www.unitree.com/g1/), developed by [Unitree Robotics](https://www.unitree.com/).
MJCF/URDF for the G1 robot:
| MJCF/URDF file name | `mode_machine` | Hip roll reduction ratio | Update status | dof#leg | dof#waist | dof#arm | dof#hand |
| ----------------------------- | :------------: | :----------------------: | ------------- | :-----: | :-------: | :-----: | :------: |
| `g1_23dof` | 1 | 14.5 | Beta | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand` | 2 | 14.5 | Beta | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_lock_waist` | 3 | 14.5 | Beta | 6*2 | 1 | 7*2 | 0 |
| `g1_23dof_rev_1_0` | 4 | 22.5 | Up-to-date | 6*2 | 1 | 5*2 | 0 |
| `g1_29dof_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 0 |
| `g1_29dof_with_hand_rev_1_0` | 5 | 22.5 | Up-to-date | 6*2 | 3 | 7*2 | 7*2 |
| `g1_29dof_lock_waist_rev_1_0` | 6 | 22.5 | Up-to-date | 6*2 | 1 | 7*2 | 0 |
| `g1_dual_arm` | 9 | null | Up-to-date | 0 | 0 | 7*2 | 0 |
## Visulization with [MuJoCo](https://github.com/google-deepmind/mujoco)
@ -65,8 +24,10 @@ root [⚓] => /pelvis/
```bash
pip install mujoco
python -m mujoco.viewer
```
2. Drag and drop the MJCF/URDF model file (`g1_body29_hand14.xml`/`g1_body29_hand14.urdf`) to the MuJoCo Viewer.
2. Drag and drop the MJCF/URDF model file (`g1_XXX.xml`/`g1_XXX.urdf`) to the MuJoCo Viewer.
## Note for teleoperate
g1_body29_hand14 is modified from [g1_29dof_with_hand_rev_1_0](https://github.com/unitreerobotics/unitree_ros/blob/master/robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf)

490
assets/g1/g1_body29_hand14.urdf
View File

@ -10,7 +10,6 @@
<child link="pelvis"/>
</joint> -->
<!-- Legs -->
<link name="pelvis">
<inertial>
<origin xyz="0 0 -0.07605" rpy="0 0 0"/>
@ -22,6 +21,22 @@
<geometry>
<mesh filename="meshes/pelvis.STL"/>
</geometry>
<material name="dark">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="pelvis_contour_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/pelvis_contour_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
@ -29,10 +44,16 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/pelvis.STL"/>
<mesh filename="meshes/pelvis_contour_link.STL"/>
</geometry>
</collision>
</link>
<joint name="pelvis_contour_joint" type="fixed">
<parent link="pelvis"/>
<child link="pelvis_contour_link"/>
</joint>
<!-- Legs -->
<link name="left_hip_pitch_link">
<inertial>
<origin xyz="0.002741 0.047791 -0.02606" rpy="0 0 0"/>
@ -89,7 +110,7 @@
<parent link="left_hip_pitch_link"/>
<child link="left_hip_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-0.5236" upper="2.9671" effort="88" velocity="32"/>
<limit lower="-0.5236" upper="2.9671" effort="139" velocity="20"/>
</joint>
<link name="left_hip_yaw_link">
<inertial>
@ -194,9 +215,27 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_ankle_roll_link.STL"/>
<sphere radius="0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
@ -263,7 +302,7 @@
<parent link="right_hip_pitch_link"/>
<child link="right_hip_roll_link"/>
<axis xyz="1 0 0"/>
<limit lower="-2.9671" upper="0.5236" effort="88" velocity="32"/>
<limit lower="-2.9671" upper="0.5236" effort="139" velocity="20"/>
</joint>
<link name="right_hip_yaw_link">
<inertial>
@ -368,9 +407,27 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.05 0.025 -0.03" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_ankle_roll_link.STL"/>
<sphere radius="0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="-0.05 -0.025 -0.03" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="0.12 0.03 -0.03" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
<collision>
<origin xyz="0.12 -0.03 -0.03" rpy="0 0 0"/>
<geometry>
<sphere radius="0.005"/>
</geometry>
</collision>
</link>
@ -385,25 +442,19 @@
<!-- Torso -->
<link name="waist_yaw_link">
<inertial>
<origin xyz="0.003964 0 0.018769" rpy="0 0 0"/>
<mass value="0.244"/>
<inertia ixx="9.9587E-05" ixy="-1.833E-06" ixz="-1.2617E-05" iyy="0.00012411" iyz="-1.18E-07" izz="0.00015586"/>
<origin xyz="0.003494 0.000233 0.018034" rpy="0 0 0"/>
<mass value="0.214"/>
<inertia ixx="0.00010673" ixy="2.703E-06" ixz="-7.631E-06" iyy="0.00010422" iyz="-2.01E-07" izz="0.0001625"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/waist_yaw_link.STL"/>
<mesh filename="meshes/waist_yaw_link_rev_1_0.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/waist_yaw_link.STL"/>
</geometry>
</collision>
</link>
<joint name="waist_yaw_joint" type="revolute">
<origin xyz="0 0 0" rpy="0 0 0"/>
@ -414,28 +465,22 @@
</joint>
<link name="waist_roll_link">
<inertial>
<origin xyz="0 -0.000236 0.010111" rpy="0 0 0"/>
<mass value="0.047"/>
<inertia ixx="7.515E-06" ixy="0" ixz="0" iyy="6.398E-06" iyz="9.9E-08" izz="3.988E-06"/>
<origin xyz="0 2.3E-05 0" rpy="0 0 0"/>
<mass value="0.086"/>
<inertia ixx="7.079E-06" ixy="0" ixz="0" iyy="6.339E-06" iyz="0" izz="8.245E-06"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/waist_roll_link.STL"/>
<mesh filename="meshes/waist_roll_link_rev_1_0.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/waist_roll_link.STL"/>
</geometry>
</collision>
</link>
<joint name="waist_roll_joint" type="revolute">
<origin xyz="-0.0039635 0 0.035" rpy="0 0 0"/>
<origin xyz="-0.0039635 0 0.044" rpy="0 0 0"/>
<parent link="waist_yaw_link"/>
<child link="waist_roll_link"/>
<axis xyz="1 0 0"/>
@ -443,14 +488,14 @@
</joint>
<link name="torso_link">
<inertial>
<origin xyz="0.002601 0.000257 0.153719" rpy="0 0 0"/>
<mass value="8.562"/>
<inertia ixx="0.065674966" ixy="-8.597E-05" ixz="-0.001737252" iyy="0.053535188" iyz="8.6899E-05" izz="0.030808125"/>
<origin xyz="0.000931 0.000346 0.15082" rpy="0 0 0"/>
<mass value="6.78"/>
<inertia ixx="0.05905" ixy="3.3302E-05" ixz="-0.0017715" iyy="0.047014" iyz="-2.2399E-05" izz="0.025652"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/torso_link.STL"/>
<mesh filename="meshes/torso_link_rev_1_0.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -459,12 +504,12 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/torso_link.STL"/>
<mesh filename="meshes/torso_link_rev_1_0.STL"/>
</geometry>
</collision>
</link>
<joint name="waist_pitch_joint" type="revolute">
<origin xyz="0 0 0.019" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="waist_roll_link"/>
<child link="torso_link"/>
<axis xyz="0 1 0"/>
@ -473,11 +518,16 @@
<!-- LOGO -->
<joint name="logo_joint" type="fixed">
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="logo_link"/>
</joint>
<link name="logo_link">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001"/>
<inertia ixx="1e-7" ixy="0" ixz="0" iyy="1e-7" iyz="0" izz="1e-7"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
@ -519,35 +569,41 @@
</collision>
</link>
<joint name="head_joint" type="fixed">
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
<origin xyz="0.0039635 0 -0.044" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="head_link"/>
</joint>
<!-- Waist Support -->
<link name="waist_support_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/waist_support_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
</link>
<joint name="waist_support_joint" type="fixed">
<origin xyz="0.0039635 0 -0.054" rpy="0 0 0"/>
<!-- IMU -->
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="waist_support_link"/>
<child link="imu_in_torso"/>
</joint>
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->
<link name="d435_link"></link>
<joint name="d435_joint" type="fixed">
<origin xyz="0.0576235 0.01753 0.42987" rpy="0 0.8307767239493009 0"/>
<parent link="torso_link"/>
<child link="d435_link"/>
</joint>
<!-- mid360 -->
<link name="mid360_link"></link>
<joint name="mid360_joint" type="fixed">
<origin xyz="0.0002835 0.00003 0.41618" rpy="0 0.04014257279586953 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="mid360_link"/>
</joint>
<!-- Arm -->
@ -567,14 +623,14 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0.04 -0.01" rpy="0 1.5707963267948966 0"/>
<geometry>
<mesh filename="meshes/left_shoulder_pitch_link.STL"/>
<cylinder radius="0.03" length="0.05"/>
</geometry>
</collision>
</link>
<joint name="left_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0039563 0.10022 0.23778" rpy="0.27931 5.4949E-05 -0.00019159"/>
<origin xyz="0.0039563 0.10022 0.24778" rpy="0.27931 5.4949E-05 -0.00019159"/>
<parent link="torso_link"/>
<child link="left_shoulder_pitch_link"/>
<axis xyz="0 1 0"/>
@ -596,9 +652,9 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.004 0.006 -0.053" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_shoulder_roll_link.STL"/>
<cylinder radius="0.03" length="0.03"/>
</geometry>
</collision>
</link>
@ -781,23 +837,23 @@
</geometry>
</collision>
</link>
<joint name="left_hand_zero_joint" type="revolute">
<origin xyz="0.028 0 0" rpy="0 0 0"/>
<joint name="left_hand_thumb_0_joint" type="revolute">
<origin xyz="0.0255 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="left_hand_palm_link"/>
<child link="left_hand_zero_link"/>
<child link="left_hand_thumb_0_link"/>
<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
</joint>
<link name="left_hand_zero_link">
<link name="left_hand_thumb_0_link">
<inertial>
<origin xyz="-0.00035441315 -0.01329887312 0.00041236207" rpy="0 0 0"/>
<mass value="0.08033018"/>
<inertia ixx="0.00001322529836" ixy="0.00000008155993" ixz="0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
<origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
<mass value="0.08623657"/>
<inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_zero_link.STL"/>
<mesh filename="meshes/left_hand_thumb_0_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -806,56 +862,56 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_zero_link.STL"/>
<mesh filename="meshes/left_hand_thumb_0_link.STL"/>
</geometry>
</collision>
</link>
<joint name="left_hand_one_joint" type="revolute">
<origin xyz="0 -0.0246 0" rpy="0 0 0"/>
<joint name="left_hand_thumb_1_joint" type="revolute">
<origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_hand_zero_link"/>
<child link="left_hand_one_link"/>
<limit effort="0.7" velocity="24" lower="-0.72431163" upper="1.04719755"/>
<parent link="left_hand_thumb_0_link"/>
<child link="left_hand_thumb_1_link"/>
<limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
</joint>
<link name="left_hand_one_link">
<link name="left_hand_thumb_1_link">
<inertial>
<origin xyz="0.00362060191 -0.04044395878 -0.00029771094" rpy="0 0 0"/>
<mass value="0.05619628"/>
<inertia ixx="0.00001234776425" ixy="0.00000026810498" ixz="-0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
<origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
<mass value="0.05885070"/>
<inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_one_link.STL"/>
<mesh filename="meshes/left_hand_thumb_1_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_one_link.STL"/>
<box size="0.02 0.03 0.02"/>
</geometry>
</collision>
</link>
<joint name="left_hand_two_joint" type="revolute">
<origin xyz="0.0055 -0.0528 0" rpy="0 0 0"/>
<joint name="left_hand_thumb_2_joint" type="revolute">
<origin xyz="0 -0.0458 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_hand_one_link"/>
<child link="left_hand_two_link"/>
<limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
<parent link="left_hand_thumb_1_link"/>
<child link="left_hand_thumb_2_link"/>
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
</joint>
<link name="left_hand_two_link">
<link name="left_hand_thumb_2_link">
<inertial>
<origin xyz="-0.00081405957 -0.03456206723 0.00012979919" rpy="0 0 0"/>
<mass value="0.02487314"/>
<inertia ixx="0.00000859888903" ixy="0.00000021727392" ixz="-0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
<origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
<mass value="0.02030626"/>
<inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_two_link.STL"/>
<mesh filename="meshes/left_hand_thumb_2_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -864,27 +920,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_two_link.STL"/>
<mesh filename="meshes/left_hand_thumb_2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="left_hand_three_joint" type="revolute">
<origin xyz="0.1 -0.0017 -0.0285" rpy="0 0 0"/>
<joint name="left_hand_middle_0_joint" type="revolute">
<origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_hand_palm_link"/>
<child link="left_hand_three_link"/>
<limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
<child link="left_hand_middle_0_link"/>
<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
</joint>
<link name="left_hand_three_link">
<link name="left_hand_middle_0_link">
<inertial>
<origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
<mass value="0.05619628"/>
<inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
<mass value="0.05885070"/>
<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_three_link.STL"/>
<mesh filename="meshes/left_hand_middle_0_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -893,27 +949,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_three_link.STL"/>
<mesh filename="meshes/left_hand_middle_0_link.STL"/>
</geometry>
</collision>
</link>
<joint name="left_hand_four_joint" type="revolute">
<origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
<joint name="left_hand_middle_1_joint" type="revolute">
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_hand_three_link"/>
<child link="left_hand_four_link"/>
<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
<parent link="left_hand_middle_0_link"/>
<child link="left_hand_middle_1_link"/>
<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
</joint>
<link name="left_hand_four_link">
<link name="left_hand_middle_1_link">
<inertial>
<origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
<mass value="0.02487314"/>
<inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
<mass value="0.02030626"/>
<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_four_link.STL"/>
<mesh filename="meshes/left_hand_middle_1_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -922,27 +978,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_four_link.STL"/>
<mesh filename="meshes/left_hand_middle_1_link.STL"/>
</geometry>
</collision>
</link>
<joint name="left_hand_five_joint" type="revolute">
<origin xyz="0.1 -0.0017 0.0285" rpy="0 0 0"/>
<joint name="left_hand_index_0_joint" type="revolute">
<origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_hand_palm_link"/>
<child link="left_hand_five_link"/>
<limit effort="0.7" velocity="24" lower="-1.83259571" upper="0.19198621"/>
<child link="left_hand_index_0_link"/>
<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
</joint>
<link name="left_hand_five_link">
<link name="left_hand_index_0_link">
<inertial>
<origin xyz="0.04044395878 -0.00362060191 0.00028771094" rpy="0 0 0"/>
<mass value="0.05619628"/>
<inertia ixx="0.00000501619054" ixy="0.00000026810498" ixz="-0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
<mass value="0.05885070"/>
<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_five_link.STL"/>
<mesh filename="meshes/left_hand_index_0_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -951,27 +1007,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_five_link.STL"/>
<mesh filename="meshes/left_hand_index_0_link.STL"/>
</geometry>
</collision>
</link>
<joint name="left_hand_six_joint" type="revolute">
<origin xyz="0.0528 -0.0055 0" rpy="0 0 0"/>
<joint name="left_hand_index_1_joint" type="revolute">
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="left_hand_five_link"/>
<child link="left_hand_six_link"/>
<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
<parent link="left_hand_index_0_link"/>
<child link="left_hand_index_1_link"/>
<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
</joint>
<link name="left_hand_six_link">
<link name="left_hand_index_1_link">
<inertial>
<origin xyz="0.03456206723 0.00081405957 -0.00012979919" rpy="0 0 0"/>
<mass value="0.02487314"/>
<inertia ixx="0.00000198874543" ixy="0.00000021727392" ixz="-0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
<mass value="0.02030626"/>
<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_six_link.STL"/>
<mesh filename="meshes/left_hand_index_1_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -980,7 +1036,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/left_hand_six_link.STL"/>
<mesh filename="meshes/left_hand_index_1_link.STL"/>
</geometry>
</collision>
</link>
@ -1000,14 +1056,14 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 -0.04 -0.01" rpy="0 1.5707963267948966 0"/>
<geometry>
<mesh filename="meshes/right_shoulder_pitch_link.STL"/>
<cylinder radius="0.03" length="0.05"/>
</geometry>
</collision>
</link>
<joint name="right_shoulder_pitch_joint" type="revolute">
<origin xyz="0.0039563 -0.10021 0.23778" rpy="-0.27931 5.4949E-05 0.00019159"/>
<origin xyz="0.0039563 -0.10021 0.24778" rpy="-0.27931 5.4949E-05 0.00019159"/>
<parent link="torso_link"/>
<child link="right_shoulder_pitch_link"/>
<axis xyz="0 1 0"/>
@ -1029,9 +1085,9 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.004 -0.006 -0.053" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_shoulder_roll_link.STL"/>
<cylinder radius="0.03" length="0.03"/>
</geometry>
</collision>
</link>
@ -1194,9 +1250,9 @@
</joint>
<link name="right_hand_palm_link">
<inertial>
<origin xyz="0.06214634836 0.00050869656 0.00058171093" rpy="0 0 0"/>
<origin xyz="0.06214634836 0.00050869656 -0.00058171093" rpy="0 0 0"/>
<mass value="0.37283854"/>
<inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
<inertia ixx="0.00027535181027" ixy="0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="0.00000042279435" izz="0.00039623390907"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
@ -1214,23 +1270,23 @@
</geometry>
</collision>
</link>
<joint name="right_hand_zero_joint" type="revolute">
<origin xyz="0.028 0 0" rpy="0 0 0"/>
<joint name="right_hand_thumb_0_joint" type="revolute">
<origin xyz="0.0255 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="right_hand_palm_link"/>
<child link="right_hand_zero_link"/>
<child link="right_hand_thumb_0_link"/>
<limit effort="2.45" velocity="6.857" lower="-1.04719755" upper="1.04719755"/>
</joint>
<link name="right_hand_zero_link">
<link name="right_hand_thumb_0_link">
<inertial>
<origin xyz="-0.00035441315 0.01329887312 -0.00041236207" rpy="0 0 0"/>
<mass value="0.08033018"/>
<inertia ixx="0.00001322529836" ixy="-0.00000008155993" ixz="-0.00000002632547" iyy="0.00001215546138" iyz="-0.00000064625786" izz="0.00001368834887"/>
<origin xyz="-0.00088424580 0.00863407079 0.00094429336" rpy="0 0 0"/>
<mass value="0.08623657"/>
<inertia ixx="0.00001602919238" ixy="-0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="0.00000051094752" izz="0.00001637877663"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_zero_link.STL"/>
<mesh filename="meshes/right_hand_thumb_0_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -1239,56 +1295,56 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_zero_link.STL"/>
<mesh filename="meshes/right_hand_thumb_0_link.STL"/>
</geometry>
</collision>
</link>
<joint name="right_hand_one_joint" type="revolute">
<origin xyz="0 0.0246 0" rpy="0 0 0"/>
<joint name="right_hand_thumb_1_joint" type="revolute">
<origin xyz="-0.0025 0.0193 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_hand_zero_link"/>
<child link="right_hand_one_link"/>
<limit effort="0.7" velocity="24" lower="-1.04719755" upper="0.72431163"/>
<parent link="right_hand_thumb_0_link"/>
<child link="right_hand_thumb_1_link"/>
<limit effort="1.4" velocity="12" lower="-1.04719755" upper="0.72431163"/>
</joint>
<link name="right_hand_one_link">
<link name="right_hand_thumb_1_link">
<inertial>
<origin xyz="0.00362060191 0.04044395878 0.00029771094" rpy="0 0 0"/>
<mass value="0.05619628"/>
<inertia ixx="0.00001234776425" ixy="-0.00000026810498" ixz="0.00000008482929" iyy="0.00000501619054" iyz="-0.00000007819408" izz="0.00001212011567"/>
<origin xyz="-0.00082788768 0.03547435774 -0.00038089960" rpy="0 0 0"/>
<mass value="0.05885070"/>
<inertia ixx="0.00001274699945" ixy="0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="0.00000027839003" izz="0.00001234543582"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_one_link.STL"/>
<mesh filename="meshes/right_hand_thumb_1_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="-0.001 0.032 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_one_link.STL"/>
<box size="0.02 0.03 0.02"/>
</geometry>
</collision>
</link>
<joint name="right_hand_two_joint" type="revolute">
<origin xyz="0.0055 0.0528 0" rpy="0 0 0"/>
<joint name="right_hand_thumb_2_joint" type="revolute">
<origin xyz="0 0.0458 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_hand_one_link"/>
<child link="right_hand_two_link"/>
<limit effort="0.7" velocity="24" lower="-2.09439510" upper="0"/>
<parent link="right_hand_thumb_1_link"/>
<child link="right_hand_thumb_2_link"/>
<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
</joint>
<link name="right_hand_two_link">
<link name="right_hand_thumb_2_link">
<inertial>
<origin xyz="-0.00081405957 0.03456206723 -0.00012979919" rpy="0 0 0"/>
<mass value="0.02487314"/>
<inertia ixx="0.00000859888903" ixy="-0.00000021727392" ixz="0.00000000850093" iyy="0.00000198874543" iyz="-0.00000008230043" izz="0.00000768992891"/>
<origin xyz="-0.00171735242 0.02628192939 0.00010778879" rpy="0 0 0"/>
<mass value="0.02030626"/>
<inertia ixx="0.00000461267817" ixy="0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="0.00000002549885" izz="0.00000386625776"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_two_link.STL"/>
<mesh filename="meshes/right_hand_thumb_2_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -1297,27 +1353,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_two_link.STL"/>
<mesh filename="meshes/right_hand_thumb_2_link.STL"/>
</geometry>
</collision>
</link>
<joint name="right_hand_three_joint" type="revolute">
<origin xyz="0.1 0.0017 0.0285" rpy="0 0 0"/>
<joint name="right_hand_middle_0_joint" type="revolute">
<origin xyz="0.0777 -0.0016 -0.0285" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_hand_palm_link"/>
<child link="right_hand_three_link"/>
<limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
<child link="right_hand_middle_0_link"/>
<limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
</joint>
<link name="right_hand_three_link">
<link name="right_hand_middle_0_link">
<inertial>
<origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
<mass value="0.05619628"/>
<inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
<origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
<mass value="0.05885070"/>
<inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_three_link.STL"/>
<mesh filename="meshes/right_hand_middle_0_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -1326,27 +1382,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_three_link.STL"/>
<mesh filename="meshes/right_hand_middle_0_link.STL"/>
</geometry>
</collision>
</link>
<joint name="right_hand_four_joint" type="revolute">
<origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
<joint name="right_hand_middle_1_joint" type="revolute">
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_hand_three_link"/>
<child link="right_hand_four_link"/>
<limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
<parent link="right_hand_middle_0_link"/>
<child link="right_hand_middle_1_link"/>
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
</joint>
<link name="right_hand_four_link">
<link name="right_hand_middle_1_link">
<inertial>
<origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
<mass value="0.02487314"/>
<inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
<origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
<mass value="0.02030626"/>
<inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_four_link.STL"/>
<mesh filename="meshes/right_hand_middle_1_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -1355,27 +1411,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_four_link.STL"/>
<mesh filename="meshes/right_hand_middle_1_link.STL"/>
</geometry>
</collision>
</link>
<joint name="right_hand_five_joint" type="revolute">
<origin xyz="0.1 0.0017 -0.0285" rpy="0 0 0"/>
<joint name="right_hand_index_0_joint" type="revolute">
<origin xyz="0.0777 -0.0016 0.0285" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_hand_palm_link"/>
<child link="right_hand_five_link"/>
<limit effort="0.7" velocity="24" lower="-0.19198621" upper="1.83259571"/>
<child link="right_hand_index_0_link"/>
<limit effort="1.4" velocity="12" lower="0" upper="1.57079632"/>
</joint>
<link name="right_hand_five_link">
<link name="right_hand_index_0_link">
<inertial>
<origin xyz="0.04044395878 0.00362060191 -0.00028771094" rpy="0 0 0"/>
<mass value="0.05619628"/>
<inertia ixx="0.00000501619054" ixy="-0.00000026810498" ixz="0.00000007819408" iyy="0.00001234776425" iyz="-0.00000008482929" izz="0.00001212011567"/>
<origin xyz="0.03547435774 -0.00082788768 0.00038089960" rpy="0 0 0"/>
<mass value="0.05885070"/>
<inertia ixx="0.00000601573947" ixy="0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="-0.00000016088850" izz="0.00001234543582"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_five_link.STL"/>
<mesh filename="meshes/right_hand_index_0_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -1384,27 +1440,27 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_five_link.STL"/>
<mesh filename="meshes/right_hand_index_0_link.STL"/>
</geometry>
</collision>
</link>
<joint name="right_hand_six_joint" type="revolute">
<origin xyz="0.0528 0.0055 0" rpy="0 0 0"/>
<joint name="right_hand_index_1_joint" type="revolute">
<origin xyz="0.0458 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="right_hand_five_link"/>
<child link="right_hand_six_link"/>
<limit effort="0.7" velocity="24" lower="0" upper="2.09439510"/>
<parent link="right_hand_index_0_link"/>
<child link="right_hand_index_1_link"/>
<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
</joint>
<link name="right_hand_six_link">
<link name="right_hand_index_1_link">
<inertial>
<origin xyz="0.03456206723 -0.00081405957 0.00012979919" rpy="0 0 0"/>
<mass value="0.02487314"/>
<inertia ixx="0.00000198874543" ixy="-0.00000021727392" ixz="0.00000008230043" iyy="0.00000859888903" iyz="-0.00000000850093" izz="0.00000768992891"/>
<origin xyz="0.02628192939 -0.00171735242 -0.00010778879" rpy="0 0 0"/>
<mass value="0.02030626"/>
<inertia ixx="0.00000153561368" ixy="0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="0.00000000823881" izz="0.00000386625776"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_six_link.STL"/>
<mesh filename="meshes/right_hand_index_1_link.STL"/>
</geometry>
<material name="white">
<color rgba="0.7 0.7 0.7 1"/>
@ -1413,7 +1469,7 @@
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="meshes/right_hand_six_link.STL"/>
<mesh filename="meshes/right_hand_index_1_link.STL"/>
</geometry>
</collision>
</link>

269
assets/g1/g1_body29_hand14.xml
View File

@ -3,6 +3,7 @@
<asset>
<mesh name="pelvis" file="pelvis.STL"/>
<mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
<mesh name="left_hip_pitch_link" file="left_hip_pitch_link.STL"/>
<mesh name="left_hip_roll_link" file="left_hip_roll_link.STL"/>
<mesh name="left_hip_yaw_link" file="left_hip_yaw_link.STL"/>
@ -15,12 +16,11 @@
<mesh name="right_knee_link" file="right_knee_link.STL"/>
<mesh name="right_ankle_pitch_link" file="right_ankle_pitch_link.STL"/>
<mesh name="right_ankle_roll_link" file="right_ankle_roll_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link.STL"/>
<mesh name="torso_link" file="torso_link.STL"/>
<mesh name="waist_yaw_link" file="waist_yaw_link_rev_1_0.STL"/>
<mesh name="waist_roll_link" file="waist_roll_link_rev_1_0.STL"/>
<mesh name="torso_link" file="torso_link_rev_1_0.STL"/>
<mesh name="logo_link" file="logo_link.STL"/>
<mesh name="head_link" file="head_link.STL"/>
<mesh name="waist_support_link" file="waist_support_link.STL"/>
<mesh name="left_shoulder_pitch_link" file="left_shoulder_pitch_link.STL"/>
<mesh name="left_shoulder_roll_link" file="left_shoulder_roll_link.STL"/>
<mesh name="left_shoulder_yaw_link" file="left_shoulder_yaw_link.STL"/>
@ -29,13 +29,13 @@
<mesh name="left_wrist_pitch_link" file="left_wrist_pitch_link.STL"/>
<mesh name="left_wrist_yaw_link" file="left_wrist_yaw_link.STL"/>
<mesh name="left_hand_palm_link" file="left_hand_palm_link.STL"/>
<mesh name="left_hand_zero_link" file="left_hand_zero_link.STL"/>
<mesh name="left_hand_one_link" file="left_hand_one_link.STL"/>
<mesh name="left_hand_two_link" file="left_hand_two_link.STL"/>
<mesh name="left_hand_three_link" file="left_hand_three_link.STL"/>
<mesh name="left_hand_four_link" file="left_hand_four_link.STL"/>
<mesh name="left_hand_five_link" file="left_hand_five_link.STL"/>
<mesh name="left_hand_six_link" file="left_hand_six_link.STL"/>
<mesh name="left_hand_thumb_0_link" file="left_hand_thumb_0_link.STL"/>
<mesh name="left_hand_thumb_1_link" file="left_hand_thumb_1_link.STL"/>
<mesh name="left_hand_thumb_2_link" file="left_hand_thumb_2_link.STL"/>
<mesh name="left_hand_middle_0_link" file="left_hand_middle_0_link.STL"/>
<mesh name="left_hand_middle_1_link" file="left_hand_middle_1_link.STL"/>
<mesh name="left_hand_index_0_link" file="left_hand_index_0_link.STL"/>
<mesh name="left_hand_index_1_link" file="left_hand_index_1_link.STL"/>
<mesh name="right_shoulder_pitch_link" file="right_shoulder_pitch_link.STL"/>
<mesh name="right_shoulder_roll_link" file="right_shoulder_roll_link.STL"/>
<mesh name="right_shoulder_yaw_link" file="right_shoulder_yaw_link.STL"/>
@ -44,21 +44,23 @@
<mesh name="right_wrist_pitch_link" file="right_wrist_pitch_link.STL"/>
<mesh name="right_wrist_yaw_link" file="right_wrist_yaw_link.STL"/>
<mesh name="right_hand_palm_link" file="right_hand_palm_link.STL"/>
<mesh name="right_hand_zero_link" file="right_hand_zero_link.STL"/>
<mesh name="right_hand_one_link" file="right_hand_one_link.STL"/>
<mesh name="right_hand_two_link" file="right_hand_two_link.STL"/>
<mesh name="right_hand_three_link" file="right_hand_three_link.STL"/>
<mesh name="right_hand_four_link" file="right_hand_four_link.STL"/>
<mesh name="right_hand_five_link" file="right_hand_five_link.STL"/>
<mesh name="right_hand_six_link" file="right_hand_six_link.STL"/>
<mesh name="right_hand_thumb_0_link" file="right_hand_thumb_0_link.STL"/>
<mesh name="right_hand_thumb_1_link" file="right_hand_thumb_1_link.STL"/>
<mesh name="right_hand_thumb_2_link" file="right_hand_thumb_2_link.STL"/>
<mesh name="right_hand_middle_0_link" file="right_hand_middle_0_link.STL"/>
<mesh name="right_hand_middle_1_link" file="right_hand_middle_1_link.STL"/>
<mesh name="right_hand_index_0_link" file="right_hand_index_0_link.STL"/>
<mesh name="right_hand_index_1_link" file="right_hand_index_1_link.STL"/>
</asset>
<worldbody>
<body name="pelvis" pos="0 0 0.793">
<inertial pos="0 0 -0.07605" quat="1 0 -0.000399148 0" mass="3.813" diaginertia="0.010549 0.0093089 0.0079184"/>
<joint name="floating_base_joint" type="free" limited="false" actuatorfrclimited="false"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -66,7 +68,7 @@
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_hip_pitch_link"/>
<body name="left_hip_roll_link" pos="0 0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 -0.001045 -0.087934" quat="0.977808 -1.97119e-05 0.205576 -0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-88 88"/>
<joint name="left_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.5236 2.9671" actuatorfrcrange="-139 139"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hip_roll_link"/>
<body name="left_hip_yaw_link" pos="0.025001 0 -0.12412">
@ -88,7 +90,10 @@
<inertial pos="0.026505 0 -0.016425" quat="-0.000481092 0.728482 -0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
<joint name="left_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="left_ankle_roll_link"/>
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
</body>
</body>
</body>
@ -102,7 +107,7 @@
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_hip_pitch_link"/>
<body name="right_hip_roll_link" pos="0 -0.052 -0.030465" quat="0.996179 0 -0.0873386 0">
<inertial pos="0.029812 0.001045 -0.087934" quat="0.977808 1.97119e-05 0.205576 0.0403793" mass="1.52" diaginertia="0.00254986 0.00241169 0.00148755"/>
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-88 88"/>
<joint name="right_hip_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.9671 0.5236" actuatorfrcrange="-139 139"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hip_roll_link"/>
<body name="right_hip_yaw_link" pos="0.025001 0 -0.12412">
@ -124,7 +129,10 @@
<inertial pos="0.026505 0 -0.016425" quat="0.000481092 0.728482 0.000618967 0.685065" mass="0.608" diaginertia="0.00167218 0.0016161 0.000217621"/>
<joint name="right_ankle_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.2618 0.2618" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
<geom type="mesh" rgba="0.2 0.2 0.2 1" mesh="right_ankle_roll_link"/>
<geom size="0.005" pos="-0.05 0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="-0.05 -0.025 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
<geom size="0.005" pos="0.12 -0.03 -0.03" rgba="0.2 0.2 0.2 1"/>
</body>
</body>
</body>
@ -132,36 +140,33 @@
</body>
</body>
<body name="waist_yaw_link">
<inertial pos="0.003964 0 0.018769" quat="-0.0178291 0.628464 0.0282471 0.777121" mass="0.244" diaginertia="0.000158561 0.000124229 9.67669e-05"/>
<inertial pos="0.003494 0.000233 0.018034" quat="0.289697 0.591001 -0.337795 0.672821" mass="0.214" diaginertia="0.000163531 0.000107714 0.000102205"/>
<joint name="waist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-88 88"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_yaw_link"/>
<body name="waist_roll_link" pos="-0.0039635 0 0.035">
<inertial pos="0 -0.000236 0.010111" quat="0.99979 0.020492 0 0" mass="0.047" diaginertia="7.515e-06 6.40206e-06 3.98394e-06"/>
<body name="waist_roll_link" pos="-0.0039635 0 0.044">
<inertial pos="0 2.3e-05 0" quat="0.5 0.5 -0.5 0.5" mass="0.086" diaginertia="8.245e-06 7.079e-06 6.339e-06"/>
<joint name="waist_roll_joint" pos="0 0 0" axis="1 0 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_roll_link"/>
<body name="torso_link" pos="0 0 0.019">
<inertial pos="0.00331122 0.00027687 0.180534" quat="0.999833 0.000360976 0.0180196 -0.00292551" mass="9.7741" diaginertia="0.124509 0.112709 0.0332404"/>
<body name="torso_link">
<inertial pos="0.00203158 0.000339683 0.184568" quat="0.999803 -6.03319e-05 0.0198256 0.00131986" mass="7.818" diaginertia="0.121847 0.109825 0.0273735"/>
<joint name="waist_pitch_joint" pos="0 0 0" axis="0 1 0" range="-0.52 0.52" actuatorfrcrange="-50 50"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="torso_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.054" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_roll_link" pos="0 0.038 -0.013831" quat="0.990268 -0.139172 0 0">
<inertial pos="-0.000227 0.00727 -0.063243" quat="0.701256 -0.0196223 -0.00710317 0.712604" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="left_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-1.5882 2.2515" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="left_shoulder_yaw_link" pos="0 0.00624 -0.1032">
<inertial pos="0.010773 -0.002949 -0.072009" quat="0.716879 -0.0964829 -0.0679942 0.687134" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="left_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
@ -189,46 +194,46 @@
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_wrist_yaw_link"/>
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
<geom pos="0.0415 0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_palm_link"/>
<body name="left_hand_zero_link" pos="0.0695 0.003 0">
<inertial pos="-0.000354413 -0.0132989 0.000412362" quat="0.385163 0.591021 -0.567321 0.424842" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
<joint name="left_hand_zero_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_zero_link"/>
<body name="left_hand_one_link" pos="0 -0.0246 0">
<inertial pos="0.0036206 -0.040444 -0.000297711" quat="0.696371 0.699653 0.125539 -0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
<joint name="left_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_one_link"/>
<body name="left_hand_two_link" pos="0.0055 -0.0528 0">
<inertial pos="-0.00081406 -0.0345621 0.000129799" quat="0.701976 0.711984 0.0160342 0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
<joint name="left_hand_two_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_two_link"/>
<body name="left_hand_thumb_0_link" pos="0.067 0.003 0">
<inertial pos="-0.000884246 -0.00863407 0.000944293" quat="0.462991 0.643965 -0.460173 0.398986" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
<joint name="left_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_0_link"/>
<body name="left_hand_thumb_1_link" pos="-0.0025 -0.0193 0">
<inertial pos="-0.000827888 -0.0354744 -0.0003809" quat="0.685598 0.705471 -0.15207 0.0956069" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
<joint name="left_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-0.724312 1.0472" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_1_link"/>
<geom size="0.01 0.015 0.01" pos="-0.001 -0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
<body name="left_hand_thumb_2_link" pos="0 -0.0458 0">
<inertial pos="-0.00171735 -0.0262819 0.000107789" quat="0.703174 0.710977 -0.00017564 -0.00766553" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
<joint name="left_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_thumb_2_link"/>
</body>
</body>
</body>
<body name="left_hand_three_link" pos="0.1415 0.0013 -0.0285">
<inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
<joint name="left_hand_three_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_three_link"/>
<body name="left_hand_four_link" pos="0.0528 -0.0055 0">
<inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
<joint name="left_hand_four_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_four_link"/>
<body name="left_hand_middle_0_link" pos="0.1192 0.0046 -0.0285">
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
<joint name="left_hand_middle_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_0_link"/>
<body name="left_hand_middle_1_link" pos="0.0458 0 0">
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
<joint name="left_hand_middle_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_middle_1_link"/>
</body>
</body>
<body name="left_hand_five_link" pos="0.1415 0.0013 0.0285">
<inertial pos="0.040444 -0.0036206 0.000287711" quat="0.583499 0.422433 0.562384 0.40596" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
<joint name="left_hand_five_joint" pos="0 0 0" axis="0 0 1" range="-1.8326 0.191986" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_five_link"/>
<body name="left_hand_six_link" pos="0.0528 -0.0055 0">
<inertial pos="0.0345621 0.00081406 -0.000129799" quat="0.514787 0.501475 0.491268 0.492111" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
<joint name="left_hand_six_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_six_link"/>
<body name="left_hand_index_0_link" pos="0.1192 0.0046 0.0285">
<inertial pos="0.0354744 0.000827888 0.0003809" quat="0.391313 0.552395 0.417187 0.606373" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
<joint name="left_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="-1.5708 0" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_0_link"/>
<body name="left_hand_index_1_link" pos="0.0458 0 0">
<inertial pos="0.0262819 0.00171735 -0.000107789" quat="0.502612 0.491799 0.502639 0.502861" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
<joint name="left_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="left_hand_index_1_link"/>
</body>
</body>
</body>
@ -238,16 +243,16 @@
</body>
</body>
</body>
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.23778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
<body name="right_shoulder_pitch_link" pos="0.0039563 -0.10021 0.24778" quat="0.990264 -0.139201 1.38722e-05 9.86868e-05">
<inertial pos="0 -0.035892 -0.011628" quat="0.68225 -0.326267 0.0130458 0.654152" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="right_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_pitch_link"/>
<geom size="0.03 0.025" pos="0 -0.04 -0.01" quat="0.707107 0 0.707107 0" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_roll_link" pos="0 -0.038 -0.013831" quat="0.990268 0.139172 0 0">
<inertial pos="-0.000227 -0.00727 -0.063243" quat="0.712604 -0.00710317 -0.0196223 0.701256" mass="0.643" diaginertia="0.000691311 0.000618011 0.000388977"/>
<joint name="right_shoulder_roll_joint" pos="0 0 0" axis="1 0 0" range="-2.2515 1.5882" actuatorfrcrange="-25 25"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_shoulder_roll_link"/>
<geom size="0.03 0.015" pos="-0.004 -0.006 -0.053" type="cylinder" rgba="0.7 0.7 0.7 1"/>
<body name="right_shoulder_yaw_link" pos="0 -0.00624 -0.1032">
<inertial pos="0.010773 0.002949 -0.072009" quat="0.687134 -0.0679942 -0.0964829 0.716879" mass="0.734" diaginertia="0.00106187 0.00103217 0.000400661"/>
<joint name="right_shoulder_yaw_joint" pos="0 0 0" axis="0 0 1" range="-2.618 2.618" actuatorfrcrange="-25 25"/>
@ -269,52 +274,52 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_pitch_link"/>
<body name="right_wrist_yaw_link" pos="0.046 0 0">
<inertial pos="0.0885506 -0.00212216 0.000573742" quat="0.507224 0.511377 0.494292 0.486717" mass="0.457415" diaginertia="0.0010598 0.000895373 0.0003238"/>
<inertial pos="0.0885506 -0.00212216 -0.000374562" quat="0.505358 0.513241 0.493844 0.487149" mass="0.457415" diaginertia="0.00105989 0.000895419 0.000323842"/>
<joint name="right_wrist_yaw_joint" pos="0 0 0" axis="0 0 1" range="-1.61443 1.61443" actuatorfrcrange="-5 5"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_wrist_yaw_link"/>
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
<geom pos="0.0415 -0.003 0" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_palm_link"/>
<body name="right_hand_zero_link" pos="0.0695 -0.003 0">
<inertial pos="-0.000354413 0.0132989 -0.000412362" quat="0.424842 0.567321 -0.591021 0.385163" mass="0.0803302" diaginertia="1.39245e-05 1.32309e-05 1.19138e-05"/>
<joint name="right_hand_zero_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_zero_link"/>
<body name="right_hand_one_link" pos="0 0.0246 0">
<inertial pos="0.0036206 0.040444 0.000297711" quat="0.696371 0.699653 -0.125539 0.0989605" mass="0.0561963" diaginertia="1.23865e-05 1.2092e-05 5.00561e-06"/>
<joint name="right_hand_one_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_one_link"/>
<body name="right_hand_two_link" pos="0.0055 0.0528 0">
<inertial pos="-0.00081406 0.0345621 -0.000129799" quat="0.701976 0.711984 -0.0160342 -0.00721768" mass="0.0248731" diaginertia="8.60616e-06 7.69097e-06 1.98043e-06"/>
<joint name="right_hand_two_joint" pos="0 0 0" axis="0 0 1" range="-2.0944 0" actuatorfrcrange="-0.7 0.7"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_two_link"/>
<body name="right_hand_thumb_0_link" pos="0.067 -0.003 0">
<inertial pos="-0.000884246 0.00863407 0.000944293" quat="0.643965 0.462991 -0.398986 0.460173" mass="0.0862366" diaginertia="1.6546e-05 1.60058e-05 1.43741e-05"/>
<joint name="right_hand_thumb_0_joint" pos="0 0 0" axis="0 1 0" range="-1.0472 1.0472" actuatorfrcrange="-2.45 2.45"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_0_link"/>
<body name="right_hand_thumb_1_link" pos="-0.0025 0.0193 0">
<inertial pos="-0.000827888 0.0354744 -0.0003809" quat="0.705471 0.685598 -0.0956069 0.15207" mass="0.0588507" diaginertia="1.28514e-05 1.22902e-05 5.9666e-06"/>
<joint name="right_hand_thumb_1_joint" pos="0 0 0" axis="0 0 1" range="-1.0472 0.724312" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_1_link"/>
<geom size="0.01 0.015 0.01" pos="-0.001 0.032 0" type="box" rgba="0.7 0.7 0.7 1"/>
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<joint name="right_hand_thumb_2_joint" pos="0 0 0" axis="0 0 1" range="-1.74533 0" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_thumb_2_link"/>
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</body>
</body>
</body>
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<joint name="right_hand_six_joint" pos="0 0 0" axis="0 0 1" range="0 2.0944" actuatorfrcrange="-0.7 0.7"/>
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<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_six_link"/>
<body name="right_hand_index_0_link" pos="0.1192 -0.0046 0.0285">
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<joint name="right_hand_index_0_joint" pos="0 0 0" axis="0 0 1" range="0 1.5708" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_0_link"/>
<body name="right_hand_index_1_link" pos="0.0458 0 0">
<inertial pos="0.0262819 -0.00171735 -0.000107789" quat="0.502861 0.502639 0.491799 0.502612" mass="0.0203063" diaginertia="4.61314e-06 3.86645e-06 1.53495e-06"/>
<joint name="right_hand_index_1_joint" pos="0 0 0" axis="0 0 1" range="0 1.74533" actuatorfrcrange="-1.4 1.4"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="right_hand_index_1_link"/>
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</body>
</body>
</body>
@ -353,13 +358,13 @@
<motor name="left_wrist_roll_joint" joint="left_wrist_roll_joint"/>
<motor name="left_wrist_pitch_joint" joint="left_wrist_pitch_joint"/>
<motor name="left_wrist_yaw_joint" joint="left_wrist_yaw_joint"/>
<motor name="left_hand_zero_joint" joint="left_hand_zero_joint"/>
<motor name="left_hand_one_joint" joint="left_hand_one_joint"/>
<motor name="left_hand_two_joint" joint="left_hand_two_joint"/>
<motor name="left_hand_three_joint" joint="left_hand_three_joint"/>
<motor name="left_hand_four_joint" joint="left_hand_four_joint"/>
<motor name="left_hand_five_joint" joint="left_hand_five_joint"/>
<motor name="left_hand_six_joint" joint="left_hand_six_joint"/>
<motor name="left_hand_thumb_0_joint" joint="left_hand_thumb_0_joint"/>
<motor name="left_hand_thumb_1_joint" joint="left_hand_thumb_1_joint"/>
<motor name="left_hand_thumb_2_joint" joint="left_hand_thumb_2_joint"/>
<motor name="left_hand_middle_0_joint" joint="left_hand_middle_0_joint"/>
<motor name="left_hand_middle_1_joint" joint="left_hand_middle_1_joint"/>
<motor name="left_hand_index_0_joint" joint="left_hand_index_0_joint"/>
<motor name="left_hand_index_1_joint" joint="left_hand_index_1_joint"/>
<motor name="right_shoulder_pitch_joint" joint="right_shoulder_pitch_joint"/>
<motor name="right_shoulder_roll_joint" joint="right_shoulder_roll_joint"/>
<motor name="right_shoulder_yaw_joint" joint="right_shoulder_yaw_joint"/>
@ -367,18 +372,20 @@
<motor name="right_wrist_roll_joint" joint="right_wrist_roll_joint"/>
<motor name="right_wrist_pitch_joint" joint="right_wrist_pitch_joint"/>
<motor name="right_wrist_yaw_joint" joint="right_wrist_yaw_joint"/>
<motor name="right_hand_zero_joint" joint="right_hand_zero_joint"/>
<motor name="right_hand_one_joint" joint="right_hand_one_joint"/>
<motor name="right_hand_two_joint" joint="right_hand_two_joint"/>
<motor name="right_hand_three_joint" joint="right_hand_three_joint"/>
<motor name="right_hand_four_joint" joint="right_hand_four_joint"/>
<motor name="right_hand_five_joint" joint="right_hand_five_joint"/>
<motor name="right_hand_six_joint" joint="right_hand_six_joint"/>
<motor name="right_hand_thumb_0_joint" joint="right_hand_thumb_0_joint"/>
<motor name="right_hand_thumb_1_joint" joint="right_hand_thumb_1_joint"/>
<motor name="right_hand_thumb_2_joint" joint="right_hand_thumb_2_joint"/>
<motor name="right_hand_index_0_joint" joint="right_hand_index_0_joint"/>
<motor name="right_hand_index_1_joint" joint="right_hand_index_1_joint"/>
<motor name="right_hand_middle_0_joint" joint="right_hand_middle_0_joint"/>
<motor name="right_hand_middle_1_joint" joint="right_hand_middle_1_joint"/>
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>
@ -395,7 +402,7 @@
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="1 0 3.5" dir="0 0 -1" directional="true" castshadow="false"/>
<light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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endsolid AssimpScene

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